Tracking performance control of a cable communicated underwater vehicle using adaptive neural network controllers

Bagheri, Ahmad; Karimi, T.; Amanifard, Nima

doi:10.1016/j.asoc.2009.10.008

Cited by 61 publications

(25 citation statements)

References 33 publications

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“…In this study, the considered system is a multibody system including a flexible body, that is, the tethered cable, and a rigid body, that is, the ROV itself. The dynamic equation of the whole ROV multibody system according to [5] can be represented by…”

Section: Modeling the Whole Rov Multibodymentioning

confidence: 99%

“…Bian et al presented a nonlinear feedback controller based on input state for path following [4]. But those control techniques assume that the unknown dynamic model can be represented by a linear one with unknown parameters and a regression matrix is specified for the ROVs [5]. Fuzzy linguistic rules are more flexible for dealing with nonlinear control problems.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Control and Disturbance Estimation of 3D Path Following for the Observation Class Underwater Remotely Operated Vehicle

Huang

Tang

et al. 2013

Advances in Mechanical Engineering

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This study addresses the question of 3D path following for the observation class underwater remotely operated vehicle. The dynamic model of the investigated remote operated vehicle is taken as a coupled multibody system composing of a flexible body and a rigid body. For precise control, the tether cable disturbance has been investigated as well via a dynamic model. Each element of the tethered cable even has been taken as an elastic body, and the waves and current disturbances have been taken into consideration. Based on the multibody system model, an adaptive backstepping sliding mode controller has been designed. To improve the controller's systematic robustness against disturbances, the sliding mode surface and adaptive control rule have been designed, too. Experiments have been performed in a tank, including the 3D path following controls of depth, heading, advance, sideway, polygon line, and spiral line. With current and wave disturbances having been taken into consideration, the tether effect has been analyzed, the efficacy and superiority of adaptive backstepping sliding mode control have been verified. It is further confirmed from the comparisons that the investigated method outperforms those S surface based controllers.

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Section: Modeling the Whole Rov Multibodymentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Control and Disturbance Estimation of 3D Path Following for the Observation Class Underwater Remotely Operated Vehicle

Huang

Tang

et al. 2013

Advances in Mechanical Engineering

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“…To achieve the best navigation plan and keep the underwater Robot running on the scheduled course [5], it is necessary to ensure the maneuverability of the underwater Robot [6,7]. When the underwater Robot has good handling performance, it cannot only maintain stable driving course, depth, and speed but also quickly change the heading, depth, and speed and correctly perform all kinds of operations [8].…”

Section: Introductionmentioning

confidence: 99%

A Novel Path Control Algorithm for Networked Underwater Robot

She

Tian²

2018

Journal of Robotics

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Under the network environment, the traditional control method of underwater Robot path has the disadvantages of low control accuracy, large error, and inefficiency. This paper proposes a novel path control method for underwater Robots based on the NURBS (nonuniform rational B-spline, NURBS) curve fitting method, which utilizes a sensor or camera to detect the static and dynamic obstacles, establishes the kinematics model of underwater Robots, gets the target function of rob shortest path, and analyzes underwater Robot constraints. According to the basic fluid mechanics, the resistance of the underwater Robot is determined. The filter function is used to smooth the process, and the NURBS curve fitting method is applied to control the path of the underwater Robot. Experimental results show that the improved method that proved to be practical is superior to the traditional one in the aspect of control time and accuracy.

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“…Water-tight junction boxes (WJB) are used to protect the connections between sensors and working components from water and ensure the reliability of underwater vehicles (Chyba, Haberkorn, Smith and Choi, 2008;Bagheri, Karimi and Amanifard, 2010). As the water depth increases, WJBs suffer from increasing external water pressure.…”

Section: Introductionmentioning

confidence: 99%

Study on the pressure self-adaptive water-tight junction box in underwater vehicle

Huang¹,

Ye²,

Leng³

et al. 2012

International Journal of Naval Architecture and Ocean Engineeri

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Underwater vehicles play a very important role in underwater engineering. Water-tight junction box (WJB) is one of the key components in underwater vehicle. This paper puts forward a pressure self-adaptive water-tight junction box (PSAWJB) which improves the reliability of the WJB significantly by solving the sealing and pressure problems in conventional WJB design. By redundancy design method, the pressure self-adaptive equalizer (PSAE) is designed in such a way that it consists of a piston pressure-adaptive compensator (PPAC) and a titanium film pressureadaptive compensator (TFPAC). According to hydro-mechanical simulations, the operating volume of the PSAE is morethan or equal to 11.6 % of the volume of WJB liquid system. Furthermore, the required operating volume of the PSAE also increases as the gas content of oil, hydrostatic pressure or temperature difference increases. The reliability of the PSAWJB is proved by hyperbaric chamber tests.

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Tracking performance control of a cable communicated underwater vehicle using adaptive neural network controllers

Cited by 61 publications

References 33 publications

Dynamic Control and Disturbance Estimation of 3D Path Following for the Observation Class Underwater Remotely Operated Vehicle

Dynamic Control and Disturbance Estimation of 3D Path Following for the Observation Class Underwater Remotely Operated Vehicle

A Novel Path Control Algorithm for Networked Underwater Robot

Study on the pressure self-adaptive water-tight junction box in underwater vehicle

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