Six-Degree-of-Freedom Hovering Control of an Underwater Robotic Platform With Four Tilting Thrusters via Selective Switching Control

Jin, Sangrok; Kim, Jihoon; Kim, Jong-Won; Seo, TaeWon

doi:10.1109/tmech.2014.2378286

Cited by 67 publications

(24 citation statements)

References 18 publications

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“…Equations (5) and (6) with Equations (8) and (9) give us the complete model for T m z and T h z , taking into account magnetic spring and auto-driving effects. With this model, we can study the impact of the auto-driving effect on the rotors torque (when α > 9 • , see Figure 7).…”

Section: Discussionmentioning

confidence: 99%

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Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs

et al. 2018

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The concept of reconfigurable magnetic coupling thrusters (RMCT) applied to the vectorial thrust of autonomous underwater vehicles (AUV) has been recently developed and presented. This technology ensures greater robot watertightness with enhanced maneuvering capabilities, which are desired features in agile AUVs for marine renewable energy (MRE) system maintenance. It is possible since in RMCTs the driving torque is magnetically transmitted to the propeller, which has its orientation changed. This work is focused on the coupling and control torque calculation and further analysis of the latest prototype version (Flat-RMCT), in the static condition for the full thrust vector range. For this purpose, a numerical model is implemented and validated with experimental results. The numerical model is based on the finite volume integral method. The results indicate that the minimum magnetic reluctance propensity creates not only the expected magnetic spring effect but also an auto-driving torque due to the non-axial symmetry of coupling rotors, which exists only for reconfigurable couplings. Mathematical functions are proposed to model these effects and they are used to extend the understanding of the coupling. These models can be used to compose a full and accurate dynamic model for a better RMCT simulation, identification, and control.

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Section: Discussionmentioning

confidence: 99%

“…This issue is solved with the combination of several FTs acting in different directions and with different thrust, e.g., water-jet thrusters. Another possibility is to use a few or a single reconfigurable thruster (RT), since they may have their thrust vectors redirected, which involves more than one degree of freedom (DOF) [8,9].…”

Section: Introductionmentioning

confidence: 99%

Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs

et al. 2018

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“…A fuzzy proportional-integral-derivative algorithm combined with a compensated dynamics equation, which needs hydrodynamics analysis and field experiments, was proposed in [34] to realize the depth control of a remotely operated vehicle in a nuclear power plant. In addition, due to its independence from the plant model and easy implementation, proportional-derivative (PD) control has been widely used in various hovering control systems [18,20,26,35], and the stability of the nonlinear system is proven using a Lyapunov-based analysis [35].…”

Section: Introductionmentioning

confidence: 99%

Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles

Zhao

Zhang

et al. 2020

JMSE

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Autonomous underwater vehicles (AUVs) are increasingly being applied to highly detailed survey and inspection tasks over large ocean regions. These vehicles are required to have underwater hovering and low-speed cruising capabilities, and energy-saving property to enable long-range missions. To this end, a combined depth control strategy is proposed in which an on-off type variable ballast system (VBS) is adopted for satisfactory hovering or fast descending/ascending without propulsion to reach the designated cruising depth, whereas the bow and stern fins act as the actuator to maintain the cruising depth for more energy saving. A hierarchical architecture-based VBS controller, which comprises a ballast water mass planner and an on-off mass flowrate controller, is developed to assure good hovering performance of the on-off type VBS. Both numerical studies and basin tests are conducted on a middle-sized AUV to verify the feasibility and validity of this depth control strategy.

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“…Second, a control allocation that distributes the control forces onto vertical thrusters and stern planes. Such an approach has been implemented by [16,17].…”

Section: Introductionmentioning

confidence: 99%

Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification

et al. 2017

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A PI-D based control system is developed for over-actuated, hover-capable AUVs which enables a smooth transition from hover-style to flight-style operation. A system stability and convergence is proven using a Lyapunov-based approach. The performance of the controller is demonstrated by simulation but crucially is proven to provide satisfactory performance experimentally. The approach is able to operate over a range of vehicle ballasting configurations, and to imposed external disturbances. The proposed system is computationally inexpensive and does not require a detailed hydrodynamic model to implement. By monitoring the energy consumption on board, the cost of maintaining depth at a range of forward speeds with different buoyancy conditions can be quantified and their impact on cost of transport is highlighted for future optimisation of energy consumption.

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Six-Degree-of-Freedom Hovering Control of an Underwater Robotic Platform With Four Tilting Thrusters via Selective Switching Control

Cited by 67 publications

References 18 publications

Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs

Torque Analysis of a Flat Reconfigurable Magnetic Coupling Thruster for Marine Renewable Energy Systems Maintenance AUVs

Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles

Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification

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