Analysis and numerical simulation of a nonlinear mathematical model for testing the manoeuvrability capabilities of a submarine

Ovalle, Diana M.; García, Javier; Periago, Francisco

doi:10.1016/j.nonrwa.2010.11.001

Cited by 14 publications

(6 citation statements)

References 13 publications

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“…s follows. First, the der to minimize the ef review on some developed for the on results of the marine system are brief discussion on planning strategies, TION e spectrum of a mathematical form (1) determined and v is elation, in the case could be expressed (2) rning the detection (3) the robot and the tions are as below…”

Section: Problem Formulizatmentioning

confidence: 99%

“…However, most prevalent researches related to this context focus on some simplified nonlinear motion relations of reduced orders. Typically, the process of mission design for a submarine entails three main challenging components [1,2]: optimality of sizing rudders (decision to be taken during the design state); design of an automatic submarine autopilot to be able to guarantee smooth manoeuvres as physically admissible in order to reduce hydraulic oil consumption and so reduce noise generation, and reduction of vulnerability due to excessive movements in complex scenarios (e.g., littoral waters, missile launching or aggressive mining). Some functional efficiency criteria for designing submarines regarding nonlinear motion equations are proposed in [3][4][5].…”

Section: Introductionmentioning

confidence: 99%

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Trajectory planning and trajectory tracking of a submarine robot based on minimization of detection capability

Kosari

Maghsoudi

Sabatian

et al. 2014

2014 22nd Iranian Conference on Electrical Engineering (ICEE)

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Nowadays, optimal trajectory planning and trajectory tracking have become the main subject of numerous research projects, and have a wide range of applicability in planning missions for a lot of marine vehicle, such as unmanned submarines, buoyant vehicles, ships, landing crafts, etc. This paper investigates the problem of path planning of a submarine, with simultaneous utilization of the direct collocation method and Pontryagin's Minimum Principle, intending to minimize its detection probability. Moreover, tracking of the path obtained from the direct collocation method is provided through model predictive control, with the two-dimensional motion relations of the submarine as predicting model comparison of the results obtained from implementing these two methods reveals that the cost associated with the direct collocation method almost closely matches the one corresponding to the indirect method. There is a negligible difference between the costs which, in fact, is due to the utilization of a numerical solution procedure in the former and an analytical one in the latter. Nevertheless, when it comes to the duration of solution iterations, the collocation method is faster, and as a result, despite the other approach, practicable enough to be able to solve complex problems. Furthermore, the results confirm the capability of the model predictive control for real-time path tracking.

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Section: Problem Formulizatmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Trajectory planning and trajectory tracking of a submarine robot based on minimization of detection capability

Kosari

Maghsoudi

Sabatian

et al. 2014

2014 22nd Iranian Conference on Electrical Engineering (ICEE)

View full text Add to dashboard Cite

show abstract

“…Moreover this description of dynamics is much suitable for fast numerical computation, because the sets for translational motion and rotational motion can be solved separately. For solving of equations we can use the Runge-Kutta 4th order numerical method, as it is mentioned in [5]. For these equations this numerical method is sufficiently accurate and fast.…”

Section: Useful Simplificationmentioning

confidence: 99%

Design and control of underwater vehicle for NDT inspections

Bláha

Schlegel

Kőnigsmarková

2014

2014 IEEE/OES Autonomous Underwater Vehicles (AUV)

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This paper deals with design and control of unmanned underwater vehicle (UUV) for nondestructive testing and inspections of submerged technologies. It covers water tanks, dams, reservoir, etc. The vehicle is designed as a neutrally buoyant rigid body with platform containing the phased array probe for weld testing. It works in two regimes -remote operational regime (6DOF) and AUV regime (3DOF). For the 6DOF maneuvering we design a symmetric vectored arrangement of eight thrusters. The symmetry in thruster positioning is utilized for design a symmetry stabilization PID control. The mathematical model was created in Matlab/Simulink and implemented in real time control system REX. The model is used for hardware in the loop simulations. Real time guidance of vehicle model is optimized and modified according to demands of operator.

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“…Here the matrices J and J are coordinate transformation matrices [1]. The dynamic equations of submarine are presented according to the submarine forces and moments acting on the vehicle [9,10,11]. The hydrodynamic coefficients which appear in the equations of this paper are related to submarine P650 as shown in Fig.…”

Section: Model Extraction For the Underwater Vehiclementioning

confidence: 99%

Design of Robust Nonlinear Optimal Controller for Underwater Vehicle to Move in Depth Channel Using Gradient Descent Method with Systematic Step Selection

Ahmadi¹,

Niasar

Faraji

et al. 2014

AMM

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This paper proposes the design of a robust nonlinear optimal controller to move the underwater vehicle in the depth channel using gradient descent method. A nonlinear model with six degrees of freedom (6-DOF) has been extracted for the underwater vehicle. To selection of the model and design of controller, conventional assumptions used for other controllers have not been considered and the developed controller can be implemented via at least assumptions. In presented control method, systematic step selection for solving of the algorithm has increased the rate of convergence significantly. The performances of the proposed robust controller for moving in depth channel with considering of parametric uncertainty for the model have been confirmed via some simulations. The results show the desirable performance of developed controller.

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Analysis and numerical simulation of a nonlinear mathematical model for testing the manoeuvrability capabilities of a submarine

Cited by 14 publications

References 13 publications

Trajectory planning and trajectory tracking of a submarine robot based on minimization of detection capability

Trajectory planning and trajectory tracking of a submarine robot based on minimization of detection capability

Design and control of underwater vehicle for NDT inspections

Design of Robust Nonlinear Optimal Controller for Underwater Vehicle to Move in Depth Channel Using Gradient Descent Method with Systematic Step Selection

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