Multivariable control of an underwater vehicle

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Addeddate Call number ocm Camera Canon EOS 5D Mark II line Ocean Engineering r Massachusetts Institute of TechnologyPages: Multivariable control of an underwater vehicle c by Logan George Milliken.

Author(s) Milliken, Logan George. DownloadFull printable version (Mb) Other Contributors. Massachusetts Institute of Technology. Dept. of Mechanical Engineering. Advisor. Lena Valavani and Damon : Logan George Milliken. Multivariable optimal control of an autonomous underwater vehicle for steering and diving control in variable speed Abstract: This paper describes a multivariable optimal control for a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KORDI).

multivariable control system for an unmanned underwater vehicle of a vertical motion, considering its interval parametric uncertainty. The research resulted into a tridimensional mathematical model of the underwater vehicle motion in a vertical plane; a model of a propulsion and steering system of the underwater vehicle and : Ivan V.

Khozhaev, Tatiana A. Ezangina, Sergey A. Gayvoronskiy, Mikhail S. Sukhodoev. This paper discusses the application of a novel multivariable control technique to the problem of autonomous underwater vehicle (AUV) autopilot design.

Based on an adaptive network structure a multivariable Sugeno style fuzzy inference system is tuned to produce autopilots for simultaneous control of multiple degrees of freedom for an AUV.

Multivariable SlidingKMode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles Anthony J. Healey and David Lienard Abstruct-A six degree of freedom model for the maneuvering of an underwater vehicle is used and a sliding mode autopilot is designed for the combined functions.

Description Multivariable control of an underwater vehicle EPUB

In flight control a. The development of a control system for an unmanned underwater vehicle (UUV) is widely agreed to be a demanding task. The outer (position) loop of the generalized dynamic inversion control system utilizes proportional-derivative control of the autonomous underwater vehicle’s inertial position errors from the.

Multivariable Feedback Control: Analysis and Design, Second Edition presents a rigorous, yet easily readable, introduction to the analysis and design of robust multivariable control systems.

Focusing on practical feedback control and not on system theory in general, this book provides the reader with insights into the opportunities and limitations of feedback s: The book is structured to cover the main steps in the design of multivariable control systems, providing a complete view of the multivariable control design methodology, with case studies, without detailing all aspects of the theory.

An introductory chapter presents in some extent the general issues in designing.

Details Multivariable control of an underwater vehicle EPUB

Book Description. The advantages of doing them with AUVs instead of Remote Operated Vehicles (ROV) or Towed Unmanned Devices (TUD) are low costs and better data quality in the inspection missions. MiResolved Acceleration Control for Underwater Vehicle-Manipulator Systems: Continuous and Discrete Time Approach Dynamic Modelling and.

This paper presents the design and simulation validation of a multivariable GPC (generalized predictive control) for AUV (autonomous underwater vehicle) in vertical plane. This control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance effectively and improve pitch and heave motion stability.

A.J. Healey and D. Lienard, “Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles,” IEEE Journal of Oceanic Engineering, Vol.

Healey, A.J., Lienard, D.: Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles[J]. IEEE Journal of Oceanic Engineering 18(3), – () CrossRef Google Scholar. Multivariable sliding mode control for autonomous diving and steering of unmanned underwater vehicles Abstract: A six-degree-of-freedom model for the maneuvering of an underwater vehicle is used and a sliding-mode autopilot is designed for the combined steering, diving, and speed control functions.

Information about the open-access article 'Efficient Multivariable Generalized Predictive Control for Autonomous Underwater Vehicle in Vertical Plane' in DOAJ.

DOAJ is an online directory that indexes and provides access to quality open access, peer-reviewed journals. Instituto Superior T´cnico. Lisbon, Portugal. e Healey, A. and D. Marco (). Navigation: Experimental results with the NPS ARIES AUV. IEEE Journal of Oceanic Engineering, Special Issue on Autonomous Ocean Sampling Netwo n 4, ­ Luque, J.

Multivariable Robust Control for an Autonomous Underwater Vehicle. In a longer book, these diversions could be the foundation of a pedagogically useful aside building up to actual control strategies for underwater vehicles.

But this is a very short book. In the end, it reads like an advanced control theory book whose primary relation to Reviews: 1. Fossen described the use of multivariable sliding-mode control in dynamic positioning of ROVs.

T.K. Podder, Adaptive control of underwater vehicle-manipulator systems subject to joint limits, in: Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Kyongju, Korea,pp. – W.M. Davidson, Sensor. The development of a control system for an unmanned underwater vehicle (UUV) is widely agreed to be a demanding task.

On the one hand, UUVs may exhibit a substantial number of actuators of diverse type, such as propellers, flaps and thrusters. On the other hand, frequently a complex navigation system has to be implemented to combine measurements from various sensors.

For the four degrees of freedom (4‐DOF) trajectory tracking control problem of underwater vehicles in the presence of parametric uncertainties and external disturbances, a novel multivariable output feedback adaptive nonsingular terminal sliding mode control (ANTSMC) approach is proposed based on the equivalent output injection adaptive.

This course is about maneuvering motions of surface and underwater vehicles. Topics covered include: derivation of equations of motion, hydrodynamic coefficients, memory effects, linear and nonlinear forms of the equations of motion, control surfaces modeling and design, engine, propulsor, and transmission systems modeling and simulation during maneuvering.

Efficient Multivariable Generalized Predictive Control for (autonomous underwater vehicle) in vertical plane. is control approach has been designed in the case of AUV navigating with low speed near water surface, in order to restrain wave disturbance ee ctively and improve pitch and heave motion stability.

e underwater vehicle, in. Regarding multivariable generalized predictive control (GPC), it is one of the most popular formulations of MPC methods [9], which has been successfully implemented in many MIMO industry process control.

Predictive control can calculate a sequence of future control signals in advance, in order to track a given future reference. Control of Linear Parameter Varying Systems compiles state-of-the-art contributions on novel analytical and computational methods for addressing system identification, model reduction, performance analysis and feedback control design and addresses address theoretical developments, novel computational approaches and illustrative applications to various fields.

six degree of freedom model for the maneuvering of an underwater vehicle is used and a sliding mode autopilot is designed for the combined steering, diving, and speed control functions.

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In flight control a arise because the system to be controlled is highly nonlinear, coupled, and there is a good deal of parameter uncertainty and variation with. Healey, A. J., Papoulias, F. Lienard, D., "Multivariable Sliding Mode Control for Autonomous Diving and Steering of Unmanned Underwater Vehicles" Proceedings of the International Conference on Modeling and Control of Marine Craft, University of Exeter, AprilLecture 14 - Model Predictive Control Part 1: The Concept • Used in a majority of existing multivariable control applications • Underwater vehicle guidance • Missile guidance From Richards & How, MIT.

EEm - Spring Gorinevsky Control Engineering This paper proposes a new tracking controller for autonomous underwater vehicles (AUVs) using the concept of simultaneous quadratic stabilization.

The nonlinear underwater vehicle system is viewed as a set of locally linear time invariant systems obtained by linearizing the system equations on the reference trajectory about some discrete points.

Autonomous Underwater Vehicles (AUVs) are programmable, robotic vehicles that, depending on their design, can drift, drive, or glide through the ocean without real-time control by human operators. Some AUVs communicate with operators periodically or continuously through satellite signals or underwater acoustic beacons to permit some level of.

This paper describes, an Adaptive Fuzzy Sliding Mode Control (AFSMC) method applied to the control of the vertical motion of a minehunting Remotely Operated Vehicle (ROV).

The effects of parameter variation of the ROV are considered, and performance and robustness to uncertainty are assessed.mannedUnderseaVehicle(UUV)MasterPlan[3]establishesTactical Oceanography,as well as Intelligence Collection and Surveillance as the thirdpriority of a four- priority program.Maneuvering motions of surface and underwater vehicles.

Derivation of equations of motion, hydrodynamic coefficients. Memory effects. Linear and nonlinear forms of the equations of motion.

Control surfaces modeling and design. Engine, propulsor, and transmission systems modeling and simulation during maneuvering. Stability of motion.