Abstract
Nowadays, underwater vehicles (UVs) are applied to various tasks such as carrying objects or maintenance of underwater structures. To carry out well these tasks, UVs should keep the position and orientation in the water to perform the specified tasks. However, the systems used in underwater operations are always under the influence of disturbance such as ocean currents and model uncertainties. In this paper, the robust station-keeping (SK) control algorithm based on a sliding mode control (SMC) theory is designed to guarantee stability and better performance of a hovering over-actuated autonomous underwater vehicle (HAUV) despite the existence of model uncertainties and ocean current disturbance in the horizontal plane (HP). Using the Lyapunov theorem, the stability of the proposed controller is demonstrated. Besides, an optimal allocation control (AC) algorithm is also designed to keep the linear position and Euler angles of the HAUV in the presence of model uncertainties as well as ocean currents and to minimize the energy consumption of the system. Finally, a series of simulations and experiments for the HAUV system is conducted to demonstrate the superior performance of the proposed method.
Highlights
As the oceans contain numerous natural and mineral resources along with the depletion of resources on land, the development of resources in the ocean has been increasingly developed in recent years
According to the established hovering over-actuated autonomous underwater vehicle (HAUV) modeling and the designed control strategy, the numerical simulations for the SK control of the HAUV are presented based on the MATLAB/Simulink Software
We assume that a random value between −35% and 35% is applied as the model uncertainties of the HAUV operating under the water such as in the mass, the inertia tensor, and the hydrodynamic coefficients
Summary
As the oceans contain numerous natural and mineral resources along with the depletion of resources on land, the development of resources in the ocean has been increasingly developed in recent years. This paper describes a procedure to design a robust controller for the DP system of a HAUV subjected to the influence of the ocean current and model uncertainties. Numerical simulations and experimental studies are conducted to illustrate the performance of the proposed controller for SK of the HAUV under the effects of the model uncertainties and ocean currents. Both simulation and experimental results demonstrate the effectiveness and practicality of the proposed system and controller and its robustness to external disturbances.
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