A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

Tijjani, Auwal Shehu; Chemori, Ahmed; Creuze, Vincent

doi:10.1016/j.arcontrol.2022.07.001

Cited by 27 publications

(9 citation statements)

References 177 publications

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“…The task, capability, and component layers of fault diagnosis for the specific control structure of the UUV were defined, and finally, a summary of some worthwhile issues to be solved was presented. Tijjani et al [49] presented a review of the conceptual designs and theoretical frameworks of the main control schemes from the literature on UVVs. Detailed experimental-based comparative studies of the available control schemes were presented in their study.…”

Section: Uuv Control System Designmentioning

confidence: 99%

A Review of the Various Control Algorithms for Trajectory Control of Unmanned Underwater Vehicles

Bashir,

Khan,

Iqbal

et al. 2023

Sustainability

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Unmanned underwater vehicles (UUVs) have become increasingly popular in recent years due to their use in various applications. The motivations for using UUVs include the exploration of difficult and dangerous underwater environments, military tasks in mine detection, intelligence gathering and surveillance, the inspection of offshore oil and gas infrastructure in the oil and gas industry, scientific research for studying marine life, and the search and rescue of missing persons or submerged airplanes or boats in underwater environments. UUVs offer many advantages in achieving the desired applications with increased safety, efficiency, and cost-effectiveness. However, there are also several challenges associated with their communication, navigation, power requirements, maintenance, and payload limitations. These types of vehicles are also prone to various disturbances caused by currents of the ocean, propulsion systems, and unmolded uncertainties. Practically, it is a challenging task to design a controller that will ensure optimal performance under these conditions. Therefore, the control system design is of prime importance in the overall development of UUVs. Also, the UUV controller receives input from different sensors, and the data from these sensors are used by the controller to perform different tasks. The control systems of UUVs should take into account all uncertainties and make them stable so that all sensors can perform optimally. This paper presents a complete review of different control system design algorithms for UUVs. The basic logic designs of several control system algorithms are also presented. A comparison is made based on reliability, robustness, precession, and the ability of the controller to handle the nonlinearity that is faced by UUVs during their missions. Simulation and experimental results are thoroughly studied to gain insight into each algorithm. The advantages and disadvantages of each algorithm are also presented, which will facilitate the selection of a suitable algorithm for the control system design of UUVs.

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Section: Uuv Control System Designmentioning

confidence: 99%

A Review of the Various Control Algorithms for Trajectory Control of Unmanned Underwater Vehicles

Bashir,

Khan,

Iqbal

et al. 2023

Sustainability

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show abstract

“…This is due to several factors, these includes internal perturbations, time-varying external disturbances such as ocean current effects, inherent parametric uncertainties in UUVs, unmodeled dynamics, and the unpredictable nature of the underwater environment [13]. These challenges become even more complex when dealing with a fleet of low-cost UUVs [20]. Due to the highly nonlinearity model of UUVs and it being exposed to several disturbances and uncertainties as discussed before, this article proposes a novel method for estimating and compensating for all disturbances at once, regardless of their source or nature, including but not limited to internal perturbations, timevarying external disturbances, inherent parametric uncertainties in UUVs, unmodeled dynamics, and the unpredictable nature of the underwater environment.…”

Section: Introductionmentioning

confidence: 99%

“…(1) A low computation demand is acquired by the simplicity of the proposed modeling and observer, which requires no additional sensors and robustly estimates all the states of the system and the overall effects of the unknown lumped disturbances; (2) It is worth mentioning that conventional robust control methods employ intricate controllers and may lack the agility to respond promptly to significant disturbances. Also, these controllers need expensive sensors and real-time information fed to the controller to compensate for the lumped disturbance [20]; in contrast, this article's approach compensates for the exact amount of disturbance which is precisely estimated online as presented in the results section; (3) By being independent of the type of controller used to determine the rotor speeds of the UUVs, the developed scheme can provide existing controllers with the additional capacity to better deal with disturbances. This fact is shown in the paper in simulation, which has excellent results when exposed to different types of disturbances with a simple MPC controller.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme

Azid,

Mehta,

Kuar

et al. 2024

Journal of Robotics

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With the advancement in robotics technology over the recent years, underwater robots’ design and development are gaining interest. Unmanned underwater vehicles (UUVs) have many applications in aquaculture, deep-sea exploration, research, and enhanced rescue tasks. However, various factors must be considered when developing any underwater vehicle system to explore the deep ends of the underwater world. In this paper, we develop the most suitable model for understanding various system parameters. The new mathematical model considers certain constraints and external disturbances exerted on the system. Also, a control strategy is suggested for the UUV’s stability and robustness. The suggested observer and model are simple, allowing for accurate estimations of all system states and the global impacts of unknown limped perturbations with a minimal computational cost.

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“…So far, numerous classical control methods have been proposed by scholars worldwide for the 3-D trajectory tracking of underwater vehicles [7,8]. Examples include PID control, fuzzy control, backstepping control, sliding mode control (SMC), adaptive control, MPC, etc.…”

Section: Introductionmentioning

confidence: 99%

Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane Algorithms

Xu,

Zhang,

Zhong

2024

JMSE

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Autonomous Underwater Vehicles (AUVs) are widely used for the inspection of seabed pipelines. To address the issues of low trajectory tracking accuracy in AUV inspection processes due to uncertain ocean current disturbances, this paper designs a new dual-loop controller based on Model Predictive Control (MPC) and Variable Universe S-plane algorithms (S-VUD FLC, where VUD represents Variable Universe Discourse and FLC represents Fuzzy Logic Control) to achieve three-dimensional (3-D) trajectory tracking of an over-actuated AUV under uncertain ocean current disturbances. This paper uses MPC as the outer-loop position controller and S-VUD FLC as the inner-loop speed controller. The outer-loop controller generates desired speed instructions that are passed to the inner-loop speed controller, while the inner-loop speed controller generates control input and uses a direct logic thrust distribution method that approaches optimal energy consumption to distribute the thrust generated by the propellers to the over-actuated AUV, achieving closed-loop tracking of the entire trajectory. When designing the outer-loop MPC controller, the actual control input constraints of the system are considered, and control increments are introduced to reduce control model errors and the impact of uncertain external disturbances on the actual AUV model parameters. When designing the inner-loop S-VUD FLC, the strong robustness of the variable universe fuzzy controller and the easy construction characteristics of the S-plane algorithm are combined, and integral action is introduced to improve the system’s tracking accuracy. The stability of the outer loop controller is proven by the Lyapunov method, and the stability of the inner loop controller is verified by simulation. Finally, simulations show that the over-actuated AUV has fast tracking processes and high tracking result accuracy under uncertain ocean current disturbances, demonstrating the effectiveness of the designed dual-loop controller.

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A survey on tracking control of unmanned underwater vehicles: Experiments-based approach

Cited by 27 publications

References 177 publications

A Review of the Various Control Algorithms for Trajectory Control of Unmanned Underwater Vehicles

A Review of the Various Control Algorithms for Trajectory Control of Unmanned Underwater Vehicles

Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme

Three-Dimensional Path Tracking of Over-Actuated AUVs Based on MPC and Variable Universe S-Plane Algorithms

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