Model Dependent Controller for Underwater Vehicle
DOI:
https://doi.org/10.21928/uhdjst.v1n2y2017.pp25-30Keywords:
Model Dependent Controller, PD Controller, Underwater VehicleAbstract
In this work, a model dependent control design method based feedback scheme was investigated for autonomous underwater vehicle control. The controller was designed with the nonlinear terms - inertia, hydrodynamic damping, and gravitational, and buoyancy - of the vehicle dynamical model consideration. Then, the model independent controller (PD) was also investigated, with no nonlinear terms consideration. The stability analysis of the proposed model dependent feedback controller was obtained based on a Lyapunov function. The simulation results of the proposed controller were compared with that of PD controller. The comparison shows the validation of the proposed controller.
Index Terms: Model Dependent Controller, PD Controller, Underwater Vehicle
References
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[13] H. Y. Zhou, K. Z. Liu and X. S. Feng. “State feedback sliding mode control without chattering by constructing hurwitz matrix for AUV
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[14] T. I. Fossen, Guidance and Control of Ocean Vehicles. New York: John Wiley & Sons, 1994.
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[16] M. P. Singh and B. Chowdhury. Control of Autonomous UnderwaterVehicles. Rourkela: Bachelor of Technology in Electrical Engineering, National Institute of Technology, 2011.
[2] N. M. Patel, S. E. Gano and J. E. Renaud. “Simulation model of an autonomous underwater vehicle for design optimization,” 45th AIAA/ASME/ASCE/AHS/ASC Structures, Structural Dynamics and Materials Conference, pp. 1-15, Apr. 2004.
[3] B. Ferreira, M. Pinto, A. Matos and N. Cruz. “Control of the MARES autonomous underwater vehicle,” in OCEANS, pp. 1-10. Oct. 2009.
[4] J. H. A. Vervoort. “Modeling and Control of an Unmanned Underwater Vehicle.” master thesis, University of Technology
Eindhoven, 2008.
[5] M. P. R. Prasad and A. Swarup.” Position and Velocity Control of Remotely Operated Underwater Vehicle using Model Predictive Control.” Indian Journal of Geo-Marine Sciences, vol. 44, no. 12, pp. 1920-1927, 2015.
[6] M. G. Joo and Z. Qu.” An autonomous underwater vehicle as an underwater glider and its depth control.” International Journal of Control, Automation, and Systems, vol. 13, no. 5, pp. 1212-1220, 2015.
[7] R. Mohd-Mokhtar, M. H. R. Aziz, M. R. Arshad, A. B. Husaini and M. M. Noh. “Model identification and control analysis for underwater thruster system.” Indian Journal of Geo-Marine Sciences, vol. 42, no. 8, pp. 992-998, 2013.
[8] G. A. Elnashar. “Dynamics modelling, performance evaluation and stability analysis of an autonomous underwater vehicle.” International Journal of Modelling, Identification and Control, vol. 21, no. 3, pp. 306-320, 2014.
[9] K. Mukheriee, I. N. Kar and R. K. P. Bhatt. “Adaptive gravity compensation and region tracking control of an AUV without velocity measurement.” International Journal of Modelling, Identification and Control, vol. 25, no. 2, pp. 154-163, 2016.
[10] L. V. Steenson, S. R. Turnock, A. B. Phillips, C. Harris, M. E. Furlong, E. Rogers and L. Wang. “Model predictive control of a hybrid
autonomous underwater vehicle with experimental verification,” in Proc. Of the Institution of Mechanical Engineers, Part M: Journal of Engineering for the MaritimeEnvironment, 2013.
[11] A. Rathore and M. Kumer. “Robust steering control of autonomous underwater vehicle: Based on PID tuning evolutionary optimization technique.” International Journal of Computer Applications, vol. 117, no. 18, pp. 1-6, 2015.
[12] A. F. Tabar, M. Azadi and A. Alesaadi. “Sliding mode control of autonomous underwater vehicles.” International Journal of Computer, Electrical, Automation, Control and Information Engineering, vol. 8, no. 3, pp. 546-549, 2014.
[13] H. Y. Zhou, K. Z. Liu and X. S. Feng. “State feedback sliding mode control without chattering by constructing hurwitz matrix for AUV
movement.” International Journal of Automation and Computing, vol. 8, no. 2, pp. 262-268, 2011.
[14] T. I. Fossen, Guidance and Control of Ocean Vehicles. New York: John Wiley & Sons, 1994.
[15] J. J. Slotine, and Li, W. Applied Nonlinear Control. New Jersey: Prentice Hall, 1991.
[16] M. P. Singh and B. Chowdhury. Control of Autonomous UnderwaterVehicles. Rourkela: Bachelor of Technology in Electrical Engineering, National Institute of Technology, 2011.
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Published
2017-08-29
How to Cite
Jasim, W. M. (2017). Model Dependent Controller for Underwater Vehicle. UHD Journal of Science and Technology, 1(2), 25–30. https://doi.org/10.21928/uhdjst.v1n2y2017.pp25-30
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