Evolutionary Dynamic Reconfiguration of AUVs for Underwater Maintenance

Chocron, Olivier; Vega, Emanuel Pablo; Benbouzid, Mohamed

doi:10.1007/978-3-319-70724-2_9

Cited by 3 publications

(2 citation statements)

References 56 publications

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“…The studies on underwater vehicles have been increasingly mature. The underwater vehicles are gradually being applied to practical observation in the ocean, and they have collected a large amount of valuable ocean environmental information for ocean scientists [12,13]. At present, there is a trend towards using underwater vehicles to observe complex ocean environments.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Digital Disturbance Rejection Controller Design for Underwater Thermal Vehicles

Wang

Yang

Wang

2021

JMSE

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Underwater thermal vehicles, as ocean observation tools, are frequently affected by environment disturbances such as waves and currents, which may cause degradation of the observation accuracy of the vehicles. Consequently, it is important to design a controller for a vehicle that can resist ocean disturbance. In this study, an underwater thermal vehicle principle is introduced, and the mathematical model is established in the vertical plane motion. On this basis, an adaptive digital disturbance suppression control method is proposed. For known disturbance parameters, this controller could compensate for external disturbances by pre-setting control parameters using the internal model principle and parameterizations method. For the case where the disturbance parameters are unknown, disturbance parameter estimation method based on forgetting factor least-squares method is proposed to transform the unknown parameter disturbance into a disturbance with known parameters, which is then suppressed by the adaptive digital disturbance rejection control approach. This solution could effectively solve the challenges caused by parameter uncertainty and unknown time-varying ocean external disturbances. Finally, simulations are carried out for the Petrel underwater thermal glider as an example. The simulation results show the proposed control method’s superiority and inherent robustness.

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Section: Introductionmentioning

confidence: 99%

Adaptive Digital Disturbance Rejection Controller Design for Underwater Thermal Vehicles

Wang

Yang

Wang

2021

JMSE

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“…Vector propulsion can be achieved by adding forces from fixed thrusters [19,20] or using re-orientable (or reconfigurable) propellers [11,4,22]. Using vector thrusters, it has been shown that a dynamic reconfiguration of the propulsion would allow to adapt the AUV to different in-mission tasks specifications [5]. Meanwhile, finding the fitted propulsion configuration for a given task remain a challenge.…”

Section: Introductionmentioning

confidence: 99%

Trajectory-Based Synthesis of Propulsion Systems for Fixed-Thrusters AUVs

Chocron

Delaleau

2018

ROMANSY 22 – Robot Design, Dynamics and Control

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Abstract. This paper presents a synthesis method for the Autonomous Underwater Vehicle (AUV) propulsion system based on the features of a trajectory to follow. This method is based on solid/fluid dynamics analysis of a AUV performing the trajectory following task and gives actuation requirements to achieve it properly. This actuation is then used to generate a propulsion system under the form of a Thrust Configuration Matrix (TCM) that is compatible with the desired trajectory. From this matrix the number of thrusters, their position and direction can then be extracted to synthesis a fitted propulsion system. Thus, the propulsion capabilities of the robot will match the trajectory characteristics and it will be able to follow it. The objective of this work is to provide an evaluation as well as a design method to produce a controllable AUV for a given task. A second use of such an analysis is to provide an evaluation process allowing to perform AUV task-based design. The method is developed for generic fixed-thrusters AUVs on any trajectory, and is applied to an existing 4-thrusters AUV for a seabed scanning flat trajectory. The method shows why the initial AUV propulsion does not match the task and what is the solution solving the issue.

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Task-based design of AUVs propulsion systems including fixed or vector thrusters

Chocron

Delaleau

2019

IECON 2019 - 45th Annual Conference of the IEEE Industrial Electronics Society

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Evolutionary Dynamic Reconfiguration of AUVs for Underwater Maintenance

Cited by 3 publications

References 56 publications

Adaptive Digital Disturbance Rejection Controller Design for Underwater Thermal Vehicles

Adaptive Digital Disturbance Rejection Controller Design for Underwater Thermal Vehicles

Trajectory-Based Synthesis of Propulsion Systems for Fixed-Thrusters AUVs

Task-based design of AUVs propulsion systems including fixed or vector thrusters

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