Nonlinear algorithm with adaptive properties to stabilize an underwater vehicle: real-time experiments

Manzanilla, Adrian; Castillo, P.; Lozano, Rogelio

doi:10.1016/j.ifacol.2017.08.1207

Cited by 7 publications

(3 citation statements)

References 9 publications

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“…A state of art smart device shown in Figure 2 was invented in Mar.30, 2017 [ 15 – 17 ]. The device is connected to other devices via Internet and has the ability to monitor the pool as it is provided with an alert system.…”

Section: Methodsmentioning

confidence: 99%

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Active Treatment of Water Chemistry for Swimming Pools Using Novel Automated System (NAS)

Asiri

2022

Bioinorganic Chemistry and Applications

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The Novel Automated System (NAS) has the control system of the level of chlorine and acid (i.e., pH level) through a feedback in three forms of synchronous alerts. The feedback is in the form of an alert voice, a visible color, and a message on a digital screen. In addition, NAS contains a slide-in container in which chemicals are used to treat the problems of chlorine and acid levels independently. Moreover, NAS has a net in front of it to clean the pool on the surface of the water from leaves and wastes and so on which is controlled through a remote control. The material used is a lightweight aluminum with mechanical and electric parts integrated with each other. In fact, NAS is qualified to serve as an assistant security guard for swimming pools because it has the characteristics that make it unique and smart.

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Section: Methodsmentioning

confidence: 99%

“…Regarding the basic concepts of the control system of the smart boat especially in the chlorination treatment, Manzanilla [ 12 – 15 ] studied the nonlinear model of underwater robot at the UMI laboratory. The robot is composed of four rotors that produce forces and torques to move and stabilize it.…”

Section: Introductionmentioning

confidence: 99%

Active Treatment of Water Chemistry for Swimming Pools Using Novel Automated System (NAS)

Asiri

2022

Bioinorganic Chemistry and Applications

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“…A nonlinear model-aided PD was proposed by Ramesh et al (2013). Manzanilla et al (2017) studied a control algorithm based on back-stepping technique with adaptive and integral properties for positioning and trajectory tracking of work-class ROVs. Rahimian and Tavazoei (2012) proposed an adjustment method that provides designers with a stable PI controller through using stable region centroids in controller’s parameter space.…”

Section: Introductionmentioning

confidence: 99%

A practical robust yaw servo architecture of ROVs by multi-vector propulsion and nonlinear controller

Song

Wang

et al. 2020

Transactions of the Institute of Measurement and Control

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Multi-vector arrangement is a novel propulsion architecture for remotely operated vehicles (ROV) because of its high manoeuvrability and efficiency, but the influence on the ROV dynamics and attitude servo control has not yet been clearly evaluated. This study fully investigated the kinematic behaviours of a hexagonal multi-vector propulsion ROV with communication delay constraint and reduced the complex model for precision control system design. An enhanced model-based PI robust controller (EMPRC) based on the nominal model is proposed to solve the nonlinear hydrodynamics and communication problems with high performance yaw control, whose stability is also analysed. The conventional proportional-integral-derivative (PID) and integral separation PID are used in the experiments for comparison. The results indicate that the proposed EMPRC can effectively track the desired attitude and reject the external disturbances, while the conventional ones are limited by the nonlinear dynamics and communication delays. The improvement is 3x on average in terms of overshoot, settling time and anti-disturbance recovery time compared to conventional algorithms and proves this proposed novel EMPRC is a practical solution for multi-vector propulsion ROVs.

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Design and Control of an Autonomous Underwater Vehicle (AUV-UMI)

Manzanilla

García

Lozano

et al. 2017

Marine Robotics and Applications

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Nonlinear algorithm with adaptive properties to stabilize an underwater vehicle: real-time experiments

Cited by 7 publications

References 9 publications

Active Treatment of Water Chemistry for Swimming Pools Using Novel Automated System (NAS)

Active Treatment of Water Chemistry for Swimming Pools Using Novel Automated System (NAS)

A practical robust yaw servo architecture of ROVs by multi-vector propulsion and nonlinear controller

Design and Control of an Autonomous Underwater Vehicle (AUV-UMI)

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