Dynamics modelling, performance evaluation and stability analysis of an autonomous underwater vehicle

Elnashar, Gamal

doi:10.1504/ijmic.2014.060734

Cited by 7 publications

(3 citation statements)

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“…In equation ( 1), the external forces on the AUV include ideal fluid inertial force, viscous position force, viscous damping force, buoyancy, gravity, propeller thrust, and propeller unbalanced moment. [34].…”

Section: Mathematical Model Of the Auvmentioning

confidence: 99%

An Embedded Linear Model Three-Dimensional Fuzzy PID Control System for a Bionic AUV under Wave Disturbance

Lyu

et al. 2022

Mathematical Problems in Engineering

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This study provides a new embedded linear model (ELM) three-dimensional fuzzy PID control method for a bionic autonomous underwater vehicle (AUV), which is disturbed by ocean waves. The uncertainty of the ocean waves will make it difficult for the AUV to achieve good sailing quality, especially near the sea surface. In view of this problem, an ELM fuzzy PID controller, which adopts three-dimensional fuzzy control rules, is designed. In the ELM fuzzy PID controller, a linear model of AUV is established in order to actively perceive the effect of waves on AUV. Hence, the wave disturbance can be reflected in the control signal earlier and faster. Finally, three simulations are carried out to verify the control effect of the ELM fuzzy PID controller. An ocean wave disturbance model is established in order to simulate the force and the moment acting on the AUV. The results imply that compared with the classical PID controller and normal fuzzy PID controller, the ELM fuzzy PID controller can significantly enhance the stability of AUV and make the response faster and overshoot smaller.

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Section: Mathematical Model Of the Auvmentioning

confidence: 99%

An Embedded Linear Model Three-Dimensional Fuzzy PID Control System for a Bionic AUV under Wave Disturbance

Lyu

et al. 2022

Mathematical Problems in Engineering

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“…Pada analisis kinematika UUV dapat dilakukan dengan menentukan koordinat bidang dari kendaraan tersebut. Terdapat 2(dua) sistem koordinat yang berlaku yaitu referensi terhadap bumi(earth-fixed reference) dan referensi terhadap pada body(body-fixed reference) [7] sebagaimana ditunjukkan pada Gambar 1. Secara umum dalam sistem koordinat ini terdapat 6 degree of freedom, di mana 3 merupakan translasi dan 3 lainnya merupakan rotasi pada sumbu bumi(x, y, z).…”

Section: Unmanned Underwater Vehicle (Uuv)unclassified

Pengendalian Gerakan Diving pada Unmanned Underwater Vehicle (UUV) Menggunakan Adaptive Nonlinier Model Predictive Control (ANMPC)

Prabowo

2019

Media Komunikasi Teknologi

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262 UUV is a thing have usefulness for under water survey mission. One of the objects control are when carrying out diving maneuvers. The situation in the water has a very extreme conditions, thus requiring control strategies that can be overcome. The use of linear controllers can not overcome with the nonlinear nature of the plant and the parameter is changed. Strategy using ANMPC is used in this research in order to resolve the issue. Mechanisms of adaptation is performed by linearization based on point work is going on, so that the updated models will be obtained during the sampling time. Results showed that in the condition of the system is given by external interference using ANMPC having an average tracking error 0.51 meter, while using Linear MPC had an average tracking error 1 meter.

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“…Nonlinear control laws were developed in Elnashar [8] for the six degrees of freedom of an underwater vehicle in several motion strategies. The stability of the system was analyzed based on phase plane analysis.…”

Section: Introductionmentioning

confidence: 99%

Model Dependent Controller for Underwater Vehicle

Jasim

2017

UHDJST

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Dynamics modelling, performance evaluation and stability analysis of an autonomous underwater vehicle

Cited by 7 publications

References 0 publications

An Embedded Linear Model Three-Dimensional Fuzzy PID Control System for a Bionic AUV under Wave Disturbance

An Embedded Linear Model Three-Dimensional Fuzzy PID Control System for a Bionic AUV under Wave Disturbance

Pengendalian Gerakan Diving pada Unmanned Underwater Vehicle (UUV) Menggunakan Adaptive Nonlinier Model Predictive Control (ANMPC)

Model Dependent Controller for Underwater Vehicle

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