Adaptive fuzzy modeling of hovering submarine based on on-line clustering

Yang, Yongpeng; Hao, Yue

doi:10.1109/fskd.2010.5569744

Cited by 4 publications

(3 citation statements)

References 5 publications

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“…The paper [12] discusses fault-tolerant control of a hovering underwater vehicle with four horizontal thrusters and two vertical thrusters. Besides, meaningful explorations have been carried out on AUV hover depth control, including hover motion modeling and simulation ( [13], [14], [15], [16]), test platform construction ( [17], [18]), high-performance control algorithm( [7], [8]), etc.…”

Section: Introductionmentioning

confidence: 99%

Research on the Heading Control of Underwater Vehicle Under Hover Condition

et al. 2020

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A guidance and control algorithm for the heading control of a large underwater vehicle in hover state is proposed. The complexity of the flow field makes it difficult to build an accurate mathematical model for heading control under hover condition. Furthermore, the turning motion in the hover state causes additional vertical hydrodynamic and pitching moments which may affect the control performance of depth and pitching, and even bring safety problems. An H ∞ synthesis method is proposed, in which guidance weighting function is designed for the heading control constraints, sensitivity weighting function for the tracking performance requirements, and uncertainty weighting function for modeling error. Firstly, the hydrodynamic characteristics and constraints of hover and steering are analyzed, and the mathematical model is established. Secondly, based on the analysis of the affection of steering motion on depth and trim state, a control strategy is proposed to suppress interference by setting steering speed and limiting acceleration, which improves the safety of the control algorithm. And then, a H ∞ robust control algorithm based on three kinds of weighting function is designed. Finally, the method is simulated by using submarine model and validated by underwater vehicle experiment.The research in this paper has potential application value for safety and low noise performance for the control of large underwater platform and manned submarines.

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Section: Introductionmentioning

confidence: 99%

Research on the Heading Control of Underwater Vehicle Under Hover Condition

et al. 2020

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“…Esta estrategia ha sido empleada con el fin de ahorrar energía [VDD + 10] o en diseños de gran tamaño [TD07]. En el caso de los submarinos tripulados, el hovering se realiza tradicionalmente empleando bombas hidráulicas [YH10,YJ10], aunque es poca la información disponible en la literatura debido a la naturaleza militar de estos vehículos.…”

Section: Maniobras a Baja O Nula Velocidad Hoveringunclassified

“…El máximo caudal proporcionados por las bombas se ha supuesto de ± 20 l/s para cada una de ellas, mientras que para la máxima velocidad de cambio se ha empleado un valor de ± 5 l/s 2 . Estas cantidades son consistentes con las empleadas en [YH10,YJ10]. El tamaño y posición de los tanques es el mismo considerado con anterioridad para el sistema basado en soplado y ventilación.…”

Section: Modelo Matemático Para El Control Mediante Bombas Hidráulicasunclassified