Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance

Li, Ao; Guo, Shuxiang; Li, Meng; Yin, He

doi:10.3390/machines10090798

Cited by 7 publications

(2 citation statements)

References 54 publications

(60 reference statements)

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“…In a further study, the hydrodynamic characteristics of the spherical robot are studied, and a model predictive of a control strategy based on these characteristics is proposed. When the current disturbance velocity was twice the robot's speed, the proposed strategy reduced the tracking error by 39% and 42% respectively [123].…”

Section: Relative-position Output Feedback Consensusmentioning

confidence: 99%

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Oceanic Challenges to Technological Solutions: A Review of Autonomous Underwater Vehicle Path Technologies in Biomimicry, Control, Navigation, and Sensing

Hasan,

Ahmad,

Liaf

et al. 2024

IEEE Access

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Autonomous Underwater Vehicles (AUVs) epitomize a revolutionary stride in underwater exploration, seamlessly assuming tasks once exclusive to manned vehicles. Their collaborative prowess within joint missions has inaugurated a new epoch of intricate applications in underwater domains. This study's primary aim is to scrutinize recent technological advancements in AUVs and their role in navigating the complexities of underwater environments. Through a meticulous review of literature and empirical studies, this review synthesizes recent technological strides, spotlighting developments in biomimicry models, cuttingedge control systems, adaptive navigation algorithms, and pivotal sensor arrays crucial for exploring and mapping the ocean floor. The article meticulously delineates the profound impact of AUVs on underwater robotics, offering a comprehensive panorama of advancements and illustrating their far-reaching implications for underwater exploration and mapping. This review furnishes a holistic comprehension of the current landscape of AUV technology. This condensed overview furnishes a swift comparative analysis, aiding in discerning the focal points of each study while spotlighting gaps and intersections within the existing body of knowledge. It efficiently steers researchers toward complementary sources, enabling a focused examination and judicious allocation of time to the most pertinent studies. Furthermore, it functions as a blueprint for comprehensive studies within the AUV domain, pinpointing areas where amalgamating multiple sources would yield a more comprehensive understanding. By elucidating the purpose, employing a robust methodology, and anticipating comprehensive results, this study endeavors to serve as a cornerstone resource that not only encapsulates recent technological strides but also provides actionable insights and directions for advancing the field of underwater robotics.

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Section: Relative-position Output Feedback Consensusmentioning

confidence: 99%

“…-Increased sensitivity may lead to tracking errors in the presence of uncertainties. [123] Proportional-Integral (PI) Controller with a Buck-Boost Converter (BBC) -Six-axis ROV designed by an NI-roboRIO-based embedded system.…”

Section: B the Latest Control Systemsmentioning

confidence: 99%

Oceanic Challenges to Technological Solutions: A Review of Autonomous Underwater Vehicle Path Technologies in Biomimicry, Control, Navigation, and Sensing

Hasan,

Ahmad,

Liaf

et al. 2024

IEEE Access

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Innovative hull cleaning robot design and control by Laguerre base model predictive control for impedance and vibration management

Madanipour,

Najafi

2024

IET Control Theory & Appl

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The intricate and unpredictable nature of underwater environments and disturbances necessitates the use of model predictive control for the effective operation and inspection of remotely operated vehicles (ROVs). This paper presented an innovative suspension system for a hull‐cleaning robot to control impedance while reducing the vibration of ROV brushes in the presence of environmental disturbances and uncertainties. The use of a model predictive controller that utilizes Laguerre functions results significant reduction in tracking time, and the efficiency of the proposed controller is demonstrated through successful impedance tracking in Z‐direction and vibration reduction in Z and Y directions of the robot in an uncertain environment with disturbance. A prototype robot is built and the controller performance is validated in a real condition and modal analysis theory output with experimental data. The results highlight the effectiveness of the designed suspension system and the developed MPC for real‐world applications where environmental conditions are unpredictable or subject to change while the robot is needed to clean the surface perfectly without scratching the hull.

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Surface hydrodynamic characteristic analysis of underwater robots applied to perception of lateral lines

Li,

Guo

2024

Physics of Fluids

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Inspired by the hydrodynamic perception abilities based on lateral lines on fish surfaces, the artificial lateral lines (ALLs) based on pressure and flow sensors were proposed by the researchers. As the ALLs are widely used in underwater robots, the mechanisms of lateral line perception are urgently needed to be studied. Based on the lattice Boltzmann method, immersion boundary method, and large eddy simulation, a three-dimensional numerical model of underwater robot motion is established and verified. The distribution and variation of velocity and surface pressure on robots with different shapes under different flow fields are studied in detail. It is found that the robots with the upstream surface curvature aspect ratio of 1:1 are more suitable for placing ALLs. Then, similarly, the hydrodynamic perception abilities of robots with different sizes are further investigated. It was observed that the smaller the robot size, the better the perception ability. In addition, sensing devices are more suitable for placement on the upstream surface of the robots. These conclusions can also explain the physiological characteristics of cavefish with well-developed lateral lines in nature. Finally, based on the above analysis, to guide the shape design and sensor layout of the robots, an evaluation index for the perception ability of the robot is proposed. The reliability of the evaluation index is verified by using a machine learning method based on polynomial regression to predict the flow field. The R-square of machine learning can reach 0.99 at the upstream surface of the robot.

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Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance

Cited by 7 publications

References 54 publications

Oceanic Challenges to Technological Solutions: A Review of Autonomous Underwater Vehicle Path Technologies in Biomimicry, Control, Navigation, and Sensing

Oceanic Challenges to Technological Solutions: A Review of Autonomous Underwater Vehicle Path Technologies in Biomimicry, Control, Navigation, and Sensing

Innovative hull cleaning robot design and control by Laguerre base model predictive control for impedance and vibration management

Surface hydrodynamic characteristic analysis of underwater robots applied to perception of lateral lines

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