System Identification and Controller Design of a Novel Autonomous Underwater Vehicle

Baoju Wu,Xiaowei Han,Nanmu Hui

doi:10.3390/machines9060109

Abstract

Autonomous underwater vehicle is an effective tool for humans to explore the ocean. It can be used for the monitoring of underwater structures and facilities, which puts forward more accurate and stable requirements for the system operation of the autonomous underwater vehicle. This paper studies the system and structural design, including the parameter identification design and control system design, of a novel autonomous underwater vehicle called “Arctic AUV”. The dynamic mathematical model of the “Arctic AUV” was established, and the system parameter identification method based on the multi-sensor least squares centralized fusion algorithm was proposed. The simplification of the mathematical model of the robot was theoretically derived, and the online parameter identification and motion control were combined, so that the robot could cope with the influence of the arctic water velocity and external turbulence. Based on the hybrid control scheme of adaptive PID and predictive control, the accurate motion control of the “Arctic AUV” was realized. A prototype of “Arctic AUV” was developed, and system parameter identification experiments were carried out in indoor pool water. Hybrid adaptive and predictive control experiments were also carried out. The validity of the parametric design method in this paper was verified, and by comparative experiment, the effect of the control method proposed in this paper was better than the traditional method.

Highlights

Autonomous underwater vehicle (AUV), compared to other types of underwater vehicle platforms, has the advantages of high autonomy and wide detection range
The system parameter identification method based on the multi-sensor least square centralized fusion algorithm is proposed, and the hybrid control scheme based on adaptive PID and predictive control is used to realize the accurate motion control of the “Arctic AUV”
The “Arctic AUV” is a novel autonomous underwater vehicle that can carry a variety of measuring equipment to monitor the marine environment under the Arctic ice

Summary

Introduction

Autonomous underwater vehicle (AUV), compared to other types of underwater vehicle platforms, has the advantages of high autonomy and wide detection range. The improvement of the motion and control accuracy of the underwater vehicle depends on the accuracy of the parameters obtained from the identification of the vehicle dynamics model. Focusing on the problem that the linear velocity of the underwater robot cannot be obtained, he designed a nonlinear observer to estimate the state of the linear velocity and used the three degrees of freedom model of AUV to display the design of the adaptive control law of convergence and robustness [29,30]. The dynamic mathematical model of the “Arctic AUV” is established On this basis, the system parameter identification method based on the multi-sensor least square centralized fusion algorithm is proposed, and the hybrid control scheme based on adaptive PID and predictive control is used to realize the accurate motion control of the “Arctic AUV”. The validity of the proposed system identification and control scheme is verified by the motion experiments of indoor pool and open water under different modes

Structure Design of the “Arctic AUV”

The Mathematical Model of “Arctic AUV”

Control Scheme Design of the “Arctic AUV”

Self-Tuning Control Algorithm of “Arctic AUV”