Robust control of variable speed autonomous underwater vehicle

Akcakaya, H. Resit; Goren-Sumer, Leyla

doi:10.1080/01691864.2013.879370

Cited by 20 publications

(14 citation statements)

References 21 publications

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“…The remaining nine cover a variety of topics: Four are algorithms for various purposes including [ 26 ] speed control, [ 27 ] trajectory control, [ 28 ] providing gliding capabilities, and [ 29 ] design of a propulsor; Two address the subject of the design of auxiliary systems [ 30 , 31 ]; Two manuscripts revolve around the design of UV with applications for environment monitoring [ 32 , 33 ]; The last specifies a middleware for UV [ 34 ]. …”

Section: Analysis and Discussionmentioning

confidence: 99%

“…Work has also been performed on algorithms for various purposes. Akçakaya et al [ 26 ] used model-predictive control for establishing point tracking control of variable speed UV. Using classic mechanics, Dong et al [ 27 ] defined a non-linear integral backstepping algorithm that controls the trajectory of an underactuated unmanned marine vehicle.…”

Section: Digitalization On Maritime Transport: the Situation At Thmentioning

confidence: 99%

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Toward Digitalization of Maritime Transport?

Sanchez-Gonzalez

Díaz-Gutiérrez

Leo

et al. 2019

Sensors

125

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Although maritime transport is the backbone of world commerce, its digitalization lags significantly behind when we consider some basic facts. This work verifies the state-of-the-art as it currently applies to eight digital domains: Autonomous vehicles and robotics; artificial intelligence; big data; virtual reality, augmented and mixed reality; internet of things; the cloud and edge computing; digital security; and 3D printing and additive engineering. It also provides insight into each of the three sectors into which this industry has been divided: Ship design and shipbuilding; shipping; and ports. The work, based on a systematic literature review, demonstrates that there are domains on which almost no formal study has been done thus far and concludes that there are major areas that require attention in terms of research. It also illustrates the increasing interest on the subject, arising from the necessity of raising the maritime transport industry to the same level of digitalization as other industries.

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Section: Analysis and Discussionmentioning

confidence: 99%

Section: Digitalization On Maritime Transport: the Situation At Thmentioning

confidence: 99%

Toward Digitalization of Maritime Transport?

Sanchez-Gonzalez

Díaz-Gutiérrez

Leo

et al. 2019

Sensors

125

View full text Add to dashboard Cite

show abstract

“…Many interacting factors which are involved in underwater vehicle dynamics can cause oscillatory or unstable operations (Perstro, 1994). Several control solutions for position or velocity control of underwater vehicles have been proposed in the literature (Akçakaya & Gören Sümer, 2014;Goheen & Jeffery, 1990;Guo, Chiu, & Huang, 2003;Healey & Lienard, 1993;Kumar, Kumar, Sen, & Dasgupta, 2009;Pisano & Usai, 2004;Subudhi, Mukherjee, & Ghosh, 2013;Sun & Cheah, 2009;Xu, Pandian, Sakagami, & Petry, 2012); however, all of them have concentrated on autonomous underwater vehicles (AUVs). It is worth noting that, unlike the variable mass underwater vehicles (VMUVs), the masses of AUVs are fixed.…”

Section: Introductionmentioning

confidence: 99%

Movement control of a variable mass underwater vehicle based on multiple-modeling approach

Shafiei

Binazadeh

2014

Systems Science & Control Engineering

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This paper is one of the few studies dealing with modeling and control of a variable mass underwater vehicle with six degrees of freedom. Since, the mass of fuel changes during the operation, both mass and the center of mass of the vehicle change with time. Therefore, dynamic equations are written around the center of buoyancy and these equations are more complicated than the equations of the fixed mass underwater vehicles. Also, fin angles which are means of path-following (control inputs) do not directly appear in the dynamical equations which cause more complexity in the controller design. In this paper, the multiple-modeling approach is used in the controller design and the control signals are achieved by the weighed combination of multiple controllers. Simulation results reveal the effectiveness of the multiple controllers in set point tracking.

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“…8 A backstepping-based adaptive tracking control design for under-actuated AUVs has been reported in the study by Ghommam and Saad. 9 In the study by Akcakaya and Sumer, 10 a robust control of variable speed AUV was designed. Also, point stabilization for an underwater vessel in the presence of sea currents was proposed by Zaopeng et al 11…”

Section: Introductionmentioning

confidence: 99%

Robust stabilizing control of nonholonomic systems with uncertainties via adaptive integral sliding mode

Sarfraz

Rehman

Shah

2017

International Journal of Advanced Robotic Systems

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This article presents a robust stabilizing control for nonholonomic underwater systems that are affected by uncertainties. The methodology is based on adaptive integral sliding mode control. Firstly, the original underwater system is transformed in a way that the new system has uncertainties in matched form. A change of coordinates is carried out for this purpose, and the nonholonomic system is transformed into chained form system with matched uncertainties. Secondly, the chained form system with uncertainties is transformed into a special structure containing nominal part and some unknown terms through input transformation. The unknown terms are computed adaptively. Afterward, the transformed system is stabilized using integral sliding mode control. The stabilizing controller for the transformed system is constructed which consists of the nominal control plus some compensator control. The compensator controller and the adaptive laws are derived in a way that the derivative of a suitable Lyapunov function becomes strictly negative. Two different cases of perturbation are considered including the bounded uncertainty present in any single control input and the uncertainties present in the overall system model of the underwater vehicle. Finally, simulation results show the validity and correctness of the proposed controllers for both cases of nonholonomic underwater system affected by uncertainties.

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Robust control of variable speed autonomous underwater vehicle

Cited by 20 publications

References 21 publications

Toward Digitalization of Maritime Transport?

Toward Digitalization of Maritime Transport?

Movement control of a variable mass underwater vehicle based on multiple-modeling approach

Robust stabilizing control of nonholonomic systems with uncertainties via adaptive integral sliding mode

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