Position and Attitude Control Method Using Disturbance Observer for Station Keeping in Underwater Vehicle

Sakiyama, Junki; Motoi, Naoki

doi:10.1109/iecon.2018.8591108

Cited by 6 publications

(11 citation statements)

References 8 publications

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“…In the stationkeeping phase, the external disturbances 𝑢 𝑜𝑐 = 0.75 It can be observed that the controller is able to keep the BlueROV2 in reference for all positions and orientations. Contrary to the simulation results reported in [20][21][22], there is no initial push on the positions when the disturbance is introduced and the tracking error It can be observed that the controller is able to keep the BlueROV2 in reference for all positions and orientations. Contrary to the simulation results reported in [20][21][22], there is no initial push on the positions when the disturbance is introduced and the tracking error remains zero for all simulations.…”

Section: Numerical Simulationscontrasting

confidence: 91%

“…Contrary to the simulation results reported in [20][21][22], there is no initial push on the positions when the disturbance is introduced and the tracking error It can be observed that the controller is able to keep the BlueROV2 in reference for all positions and orientations. Contrary to the simulation results reported in [20][21][22], there is no initial push on the positions when the disturbance is introduced and the tracking error remains zero for all simulations. This demonstrates the robustness of the controller to overcome external disturbances quickly and effectively.…”

Section: Numerical Simulationscontrasting

confidence: 91%

“…The resulting RMSE was 1.26 cm, which is quite similar to the RMSE from the control test. This means that the controller can maintain its performance in the presence of unknown external disturbances of the same magnitude as in the simulations in related work [21]. A series of experiments were performed for station-keeping in the depth of the BlueROV2.…”

Section: Experimentationmentioning

confidence: 95%

“…Sakiyama et al [21] proposed a disturbance observer for the station-keeping of AUVs. Numerical simulations were performed introducing external disturbances of 10 N in the horizontal plane.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation

González-García

Gómez-Espinosa

García-Valdovinos

et al. 2022

Sensors

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The use of autonomous underwater vehicles (AUVs) has expanded in recent years to include inspection, maintenance, and repair missions. For these tasks, the vehicle must maintain its position while inspections or manipulations are performed. Some station-keeping controllers for AUVs can be found in the literature that exhibits robust performance against external disturbances. However, they are either model-based or require an observer to deal with the disturbances. Moreover, most of them have been evaluated only by numerical simulations. In this paper, the feasibility of a model-free high-order sliding mode controller for the station-keeping problem is validated. The proposed controller was evaluated through numerical simulations and experiments in a semi-Olympic swimming pool, introducing external disturbances that remained unknown to the controller. Results have shown robust performance in terms of the root mean square error (RMSE) of the vehicle position. The simulation resulted in the outstanding station-keeping of the BlueROV2 vehicle, as the tracking errors were kept to zero throughout the simulation, even in the presence of strong ocean currents. The experimental results demonstrated the robustness of the controller, which was able to maintain the RMSE in the range of 1–4 cm for the depth of the vehicle, outperforming related work, even when the disturbance was large enough to produce thruster saturation.

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Section: Numerical Simulationscontrasting

confidence: 91%

Section: Numerical Simulationscontrasting

confidence: 91%

Section: Experimentationmentioning

confidence: 95%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation

González-García

Gómez-Espinosa

García-Valdovinos

et al. 2022

Sensors

View full text Add to dashboard Cite

show abstract

“…Some other studies focused on more theoretical problems, such as shallow wave forces on submerged thin plates [11,12]; or on modelling the control of a submerged vehicles, but taking into account disturbances derived from currents [13]. Strip theory has also been applied to estimate forces acting on underwater vehicles whilst operating in shallow water where the influence of sea waves is prevalent.…”

Section: Introductionmentioning

confidence: 99%

Experimental Force Data of a Restrained ROV under Waves and Current

Gabl

Davey

Cao

et al. 2020

Data

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Hydrodynamic forces are an important input value for the design, navigation and station keeping of underwater Remotely Operated Vehicles (ROVs). The experiment investigated the forces imparted by currents (with representative real world turbulence) and waves on a commercially available ROV, namely the BlueROV2 (Blue Robotics, Torrance, USA). Three different distances of a simplified cylindrical obstacle (shading effects) were investigated in addition to the free stream cases. Eight tethers held the ROV in the middle of the 2 m water depth to minimise the influence of the support structure without completely restricting the degrees of freedom (DoF). Each tether was equipped with a load cell and small motions and rotations were documented with an underwater video motion capture system. The paper describes the experimental set-up, input values (current speed and wave definitions) and initial processing of the data. In addition to the raw data, a processed dataset is provided, which includes forces in all three main coordinate directions for each mounting point synchronised with the 6DoF results and the free surface elevations. The provided dataset can be used as a validation experiment as well as for testing and development of an algorithm for position control of comparable ROVs.

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Combustion‐enabled underwater vehicles (CUVs) in dynamic fluid environment

Wang

Yang

et al. 2023

Journal of Field Robotics

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Underwater vehicles have opened a unique path to multifunctionality and environmental adaptability. However, inadequate studies have been conducted to investigate the dynamic principle and performance of underwater vehicles in real applications with complex external conditions. Here, we propose a type of combustion‐enabled underwater vehicles that can perform stable high‐speed motions under dynamic fluid environment. Experiments are conducted to test the kinematic performance. Numerical simulations are developed to investigate the fluid–solid interaction phenomenon, and theoretical modeling is derived to study the dynamic principle of the combustion actuation process. The experimental, numerical, and theoretical results are compared with satisfactory agreements. The underwater vehicles perform ~3.4 body‐length distance within 0.2 s and a maximum speed of ~30 body‐length per second in horizontal direction. Parametric studies are conducted to investigate the sensitivity of the key factors to the kinematic performance of the reported underwater vehicles. In the end, we report the hybrid combustion‐enabled underwater vehicles (CUVs) that combined with propeller to realize continuous driving for multi‐mode operations. The experimental, numerical, and theoretical results indicate that hybrid CUVs can achieve more flexible and controllable motion performance.

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Position and Attitude Control Method Using Disturbance Observer for Station Keeping in Underwater Vehicle

Cited by 6 publications

References 8 publications

Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation

Model-Free High-Order Sliding Mode Controller for Station-Keeping of an Autonomous Underwater Vehicle in Manipulation Task: Simulations and Experimental Validation

Experimental Force Data of a Restrained ROV under Waves and Current

Combustion‐enabled underwater vehicles (CUVs) in dynamic fluid environment

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