Control System For Underwater Vehicle Research Articles

System for automatic soil sampling by AUV equipped with multilink manipulator

The development and research of the new synthesis method of the control system for an autonomous underwater vehicle (AUV) with a multilink manipulator is described in the paper. This system provides an automatic soil sampling and the taking of geological samples of a sea bottom surface. In automatic mode, the developed system defines the location of a bottom surface relative to the AUV by means of the onboard multibeam Doppler lag. During the vehicle immersion, the system evaluates the complexity of the bottom relief in the working area and makes decision on the suitability of the said relief for the trouble-free implementation of the specified manipulative tasks. Also, the proposed system realises the formation algorithm for spatial trajectories of the multilink underwater manipulator's working tool and defines the AUV spatial orientation and position at which the performing of manipulation operations occurs most efficiently and safely.

Software and Hardware Complex for the Management of Small-sized Underwater Vehicle

The report deals with the design and implementation of a control system for a small underwater vehicle designed for search and monitoring. The structures of algorithmic and software support of the remote control system are proposed. Private algorithms for the management and processing of navigation information have been developed. The application screens with the results of full-scale tests of the small underwater vehicle (SUV) are given.

Two-level quantised control systems: sliding-mode approach

ABSTRACTSliding mode quantisers (SMQs), where signals are converted to switching signals represented by the sequence of binary values 's and 's, are increasingly being used in various applications including control of power converters, networked control systems (NCSs), one-bit control processing, etc. This paper derives the stability conditions of nonlinear control system embedded with SMQ-based Δ-M. The equivalence conditions of the proposed SMQ, which assure that its binary outputs are equivalent to its inputs, are established. The results of theoretical analysis are validated through simulation considering an example of the underwater vehicle control system, where the transmission bit-rate is limited by . The results of the simulation demonstrates that the quantised feedback signals effectively control the system and achieves both the desired specifications and the bandwidth reduction.

Parametric synthesis of a robust controller on a base of mathematical programming method

Considered paper is dedicated to deriving sufficient conditions, linking root indices of robust control quality with coefficients of interval characteristic polynomial, on the base of mathematical programming method. On the base of these conditions, a method of PI- and PID-controllers, providing aperiodic transient process with acceptable stability degree and, subsequently, acceptable setting time, synthesis was developed. The method was applied to a problem of synthesizing a controller for a depth control system of an unmanned underwater vehicle.

Providing a Robust Aperiodic Transient Process in Motion Control System Unmanned Underwater Vehicle with Interval Parameters

The paper is dedicated to developing a method of synthesizing PI and PID-controllers, providing aperiodic transient processes in systems with interval parameters, particularly in motion control systems of unmanned underwater vehicles. Developed methods of a controller parametric synthesis are based on defining limits of a dominant root of a characteristic polynomial and a D-partition method in vertices of interval control system polytope of coefficients. Methods were applied to a problem of synthesizing a submerging control channel of a motion control system of an unmanned underwater vehicle with parametric uncertainty.

Analysis of Interval Control System Robust Quality Indices on the Base of Root and Coefficient Methods

Considered paper is dedicated to interval control system quality analysis with the help of root locus method and method of coefficient estimates. On the base of the first method, an algorithm of determining examinable vertices of interval characteristic polynomial coefficients polytope, which images determine robust root quality indices. On the base of coefficients method, sufficient conditions, linking coefficients of interval characteristic polynomial coefficients with quantitative estimates of robust root quality indices. With the help of both developed approaches, a robust control quality of unmanned underwater vehicle control systems was analyzed.

High–Level Control System for Biomimetic Autonomous Under-water Vehicle

Usually, a rough software architecture designed for a robot can be can be shortly presented in the form of layers. The lowest layer is responsible for direct control of the hardware, i.e. engines, energy system, sensors, navigation devices, etc. A next layer is a low–level control which knows how to use the hardware in order to achieve a desired state of the robot, e.g. to stay on a desired course. And the last layer, the layer which is the nearest to the human–operator, is a high–level control which decides how to use the low–level control and sometimes also individual pieces of the hardware to achieve predefined objectives. The paper describes architecture, tasks and operation of the high–level control system (HLCS) designed for Biomimetic Autonomous Underwater Vehicle (BAUV).

Modern tasks of automation control for the autonomous uninhabited underwater vehicle with a radio beacon

Coverage of the underwater situation is an important task in the system of control of coastal water areas. As an effective means of detecting and identifying objects, it is recommended to use autonomous uninhabited underwater vehicles with a radio beacon, as they have a number of advantages over conventional autonomous and tethered underwater vehicles. The publication considers a class of problems solved with the help of autonomous uninhabited underwater vehicles with a radio beacon. Possible operational modes of these devices and special features of their control are distinguished. The complexity of automatic control of movement of such devices is conditioned with the presence of a low-inertia radio beacon and a tether. Therefore, the tether’s impact on the device has a constantly changing nature. A generalized structure of the automatic control system of an autonomous uninhabited underwater vehicle with a radio beacon is proposed. The system is organized by a hierarchical principle, which simplifies the process of synthesizing the laws governing the executive mechanisms of the device.

The Influence of Parameters of Biomimetic Underwater Vehicle Control System on the Ability of the Vehicle to Avoid Obstacles

Abstract Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software that usually has many different parameters. The parameters decide about effectiveness of the software and in consequence the vehicle. The paper reports experiments performed in simulation, whose goal was to analyze the influence of selected parameters of High- -level Control System of Biomimetic Underwater Vehicle on the vehicle ability to avoid obstacles.

Synthesis of a PID-controller of a trim robust control system of an autonomous underwater vehicle

Autonomous underwater vehicles are often used for performing scientific, emergency or other types of missions under harsh conditions and environments, which can have non-stable, variable parameters. So, the problem of developing autonomous underwater vehicle motion control systems, capable of operating properly in random environments, is highly relevant. The paper is dedicated to the synthesis of a PID-controller of a trim robust control system, capable of keeping an underwater vehicle stable during a translation at different angles of attack. In order to synthesize the PID-controller, two problems were solved: a new method of synthesizing a robust controller was developed and a mathematical model of an underwater vehicle motion process was derived. The newly developed mathematical model structure is simpler than others due to acceptance of some of the system parameters as interval ones. The synthesis method is based on a system poles allocation approach and allows providing the necessary transient process quality in a considered system.

A Concept for Application of a Stereo Vision Method in Control System of an Underwater Vehicle

The aim of this research was to describe a concept for application of a stereo vision method in control system of an underwater vehicle. We have focused on a stereo vision method and a motion parameters determination. Our results show that usage of stereo vision rig in a control system may facilitate underwater inspections in the close distance to the investigated object. The future work will focus on the implementation of the proposed method.

Development and Research of Path-Planning Module for Control System of Underwater Vehicle

Development and Research of Path-Planning Module for Control System of Underwater Vehicle

Решение задачи диагностирования датчиков системы управления необитаемым подводным аппаратом

Решение задачи диагностирования датчиков системы управления необитаемым подводным аппаратом

Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept

The main goal in developing closed loop control system for an Autonomous Underwater Vehicle (AUV) is to make a robust vehicle from natural and exogenous perturbations such as wind, wave, and ocean currents. However a well-known robust control, for instance, Sliding Mode Controller (SMC), gives a chattering effect and it influences the stability of an AUV. Furthermore, some researchers combined other controls to get better result but it tends to present long computational time and causes large energy consumption. Thus, this paper proposed a Super Twisting Sliding Mode Controller (STSMC) with dynamic region concept for an AUV. STSMC or a second order SMC is adopted as a robust controller which is free from chattering effect. Meanwhile, the implementation of dynamic region is useful to reduce the energy usage. As a result, the proposed controller obtains global asymptotic stability which is validated by using Lyapunov-like function. Moreover, some simulations present the efficiency of proposed controller. In conclusion, STSMC with region based control is effective to be applied for the robust tracking of an AUV. It contributes to give a fast response when handling the perturbations, short computational time, and low energy demand.

A waypoint-tracking controller for a bionic autonomous underwater vehicle with two pectoral fins

This study aims to develop a waypoint-tracking control system for a biomimetic underwater vehicle (BUV). The BUV is propelled by wide paired pectoral foils, and each pectoral foil is driven by three independent fin rays. To simplify the control strategy, the maximum flapping amplitude of the pectoral fin is used to control the forward velocity, and a turning factor is defined for the manoeuvre control. Several swimming experiments are carried out to investigate the influence of the control parameters on the swimming performance of the prototype. Based on the results of the swimming experiments, a waypoint-tracking control system is proposed, which contains two layers: the velocity control layer and the heading angle control layer. A subdivision control method is adopted by the velocity control layer to get the maximum flapping amplitude. The fuzzy control method is employed by the heading angle control layer to obtain the turning factor for steering motion. Several waypoint-tracking experiments are carried out to verify effectiveness of the control system. The results show that the prototype can automatically reach the target area with the designed control system, even though the waypoints are arranged or randomly given.

Self-Repairing Control System for a Hybrid Underwater Vehicle

A novel remotely operated underwater vehicle-a hybrid remotely operated underwater vehicle (HROV) capable of working to the full ocean depth has been developed. The battery powered vehicle operates in two modes. For broad-area survey, the vehicle can operate as an autonomous underwater vehicle (AUV) capable of mapping the sea floor with sonars and cameras. For close up imaging and sampling, the vehicle can operate as a remotely operated underwater vehicle (ROV) employing a optic fiber tether for real-time telemetry of data and video to its operators on a surface ship. In order for the vehicle to achieve a certain survivability and reliability level, a self-repairing control system (SRCS) has been designed. This paper presents the two basic technologies in SRCS: fault diagnosis and isolation (FDI) and reconfigurable control. For FDI, a model-based hierarchical fault diagnosis system is designed for the HROV. Then, control strategies which reconfigure the control system at intervals according to information from the FDI system are presented. Combining the two technologies, we obtained the fundamental frame of SRCS for the HROV.

Dynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation

The development of accurate control systems for underwater robotic vehicles relies on the adequate compensation of thruster dynamics. Without compensation, the closed-loop positioning system can exhibit limit cycles. This undesired behaviour may compromise the overall system stability. In this work, a fuzzy sliding-mode compensation scheme is proposed for electrically actuated bladed thrusters, which are commonly employed in the dynamic positioning of underwater vehicles. The boundedness and convergence properties of the tracking error are analytically proven. The numerical results suggest that this approach shows a greatly improved performance when compared with an uncompensated counterpart.

Особенности построения информационно-управляющей системы телеуправляемого подводного аппарата

Особенности построения информационно-управляющей системы телеуправляемого подводного аппарата

The Design and Realization of Control System for Underwater Vehicle

This paper mainly describes the hardware and software design of an underwater vehicle, the underwater vehicle aims at researching how to cope many kinds of accidents in the shallow water, and then makes the underwater vehicle able to work well and stable in the shallow water.

A New Anti-Surge Control System for Underwater Vehicle

This paper presents a new anti-surge control system hardware structure for Underwater vehicle and Stress analysis. Based on the considered environmental impact of surge in Shallow waters, a space-based six degree of freedom equation of motion simulation model is built for the special movement. A new integrated control system for the underwater vehicle, including a fuzzy PID control part with a state prediction is obtained by solving the surge problems to deal with the poor working condition under the action of the surge in Shallow waters, and its aim at the characteristics of low static error, fast response and control overshoot suppression. Some simulations verify the performance.