Unmanned Water-Powered Aerial Vehicles: Theory and Experiments

Liu, Xiaoming; Zhang, Hao

doi:10.1109/access.2019.2895335

Cited by 14 publications

(15 citation statements)

References 16 publications

(15 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…With the attention to the discovery and development of ocean, remote operated vehicles (ROVs) have been widely used in the ocean scientific research and engineering practice (Cai et al, 2019). For some critical applications such as environmental survey, mineral resources hunting and even various military missions like mine clearance, a portable ROV is generally preferred (Liu and Zhou, 2019). Typically, multi-vector propulsion ROV can enter more complex underwater spaces while human occupied vehicles (HOVs) and torpedo-shaped autonomous underwater vehicles (AUVs) are limited in operating (Song et al, 2020;Tabataba'i-Nasab et al, 2019).…”

Section: Introductionmentioning

confidence: 99%

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Gong

Lin

et al. 2021

View full text Add to dashboard Cite

Purpose A novel proportional integral derivative-extended state disturbance observer-based control (PID-ESDOBC) algorithm is proposed to solve the nonlinear hydrodynamics, parameters perturbation and external disturbance in yaw control of remote operated vehicles (ROVs). The effectiveness of PID-ESDOBC is verified through the experiments and the results indicate that the proposed method can effectively track the desired attitude and attenuate the external disturbance. Design/methodology/approach This study fully investigates the hydrodynamic model of ROVs and proposes a control-oriented hydrodynamic state space model of ROVs in yaw direction. Based on this, this study designs the PID-ESDOBC controller, whose stability is also analyzed through Kharitonov theorem and Mikhailov criterion. The conventional proportional-integral-derivative (PID) and active disturbance rejection control (ADRC) are compared with our method in our experiment. Findings In this paper, the authors address the nonlinear hydrodynamics, parameters perturbation and external disturbance problems of ROVs with multi-vector propulsion by using PID-ESDOBC control scheme. The advantage is that the nonlinearities and external disturbance can be estimated accurately and attenuate promptly without requiring the precise model of ROVs. Compared to PID and ADRC, both in overshoot and settling time, the improvement is 2X on average compared to conventional PID and ADRC in the pool experiment. Research limitations/implications The delays occurred in the control process can be solved in the future work. Practical implications The attitude control is a kernel problem for ROVs. A precise kinematic and dynamic model for ROVs and an advanced control system are the key factors to obtain the better maneuverability in attitude control. The PID-ESDOBC method proposed in this paper can effectively attenuate nonlinearities and external disturbance, which leads to a quick response and good tracking performance to baseline controller. Social implications The PID-ESDOBC algorithm proposed in this paper can be ensure the precise and fast maneuverability in attitude control of ROVs or other underwater equipment operating in the complex underwater environment. In this way, the robot can better perform undersea work and tasks. Originality/value The dynamics of the ROV and the nominal control model are investigated. A novel control scheme PID-ESDOBC is proposed to achieve rapidly yaw attitude tracking and effectively reject the external disturbance. The robustness of the controller is also analyzed which provides parameters tuning guidelines. The effectiveness of the proposed controller is experimental verified with a comparison by conventional PID, ADRC.

show abstract

Section: Introductionmentioning

confidence: 99%

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Gong

Lin

et al. 2021

View full text Add to dashboard Cite

show abstract

“…On the other hand, water-powered flying systems, such as personal jet packs [11][12][13], flying boards [14,15], and aerial systems [16,17], have shown their capability and flight maneuverability. Unfortunately, these systems are either manual or semi-automated.…”

Section: Introductionmentioning

confidence: 99%

“…For autonomous operations, the available control approaches rely on mechanisms that can regulate both water flow and posture of the actuator nozzles. Furthermore, the motion control methods are fairly simple, such as proportional derivative (PD) control [16], proportional integral derivative (PID) control [13], and proportional control with speed feedbacks [18]. As an extension of this feature, for the autonomous firefighting tasks, it is reasonable to use the available water source to actuate the motion of the flying system.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Motion Control System Design for a Flying-Type Firefighting System with Water Jet Actuators

et al. 2021

View full text Add to dashboard Cite

This paper presents the design and modeling of a flying-type fire extinguishing system. Fire accidents present very hazardous environments, and firefighters are in danger of losing their lives while putting out the fire. Strict safety measures should be considered to guarantee safe working conditions for firefighters, which is not the case every time, as fatalities and casualties are still being recorded. For this reason, a novel fire extinguishing system is proposed to provide more safe firefighting and survivor searches. The system studied in this paper is a pilot model that consists of a water jet-based actuation system to control the flying motion of the robot. The dynamic model of this flying robot is derived using the actuation forces, water jet system characteristics, and related information. The mathematical system model is detailed, a sliding-mode control system and a proportional-integral-derivative controller are designed, and comparative simulation tests are carried out.

show abstract

“…Cable-controlled underwater ROVs are widely used in military missions and scientific research because of their flexibility, sufficient load capacity and real-time information transmission characteristics (Liu and Zhou, 2019). In the high-end applications, the high-performance control systems are desired with the challenges of the uncertain hydrodynamics.…”

Section: Introductionmentioning

confidence: 99%

Double-boundary interval fault-tolerant control for a multi-vector propulsion ROV with thruster failure

Zhou

Wang²,

et al. 2020

View full text Add to dashboard Cite

Purpose A novel fault-tolerant control (FTC) method is proposed to assure the stability of the remote-operated vehicle (ROV) by considering the thruster failure-induced model perturbations. The stability of the ROV with failures is guaranteed and optimized with the determined model perturbation set. The effectiveness of the double-boundary interval fault-tolerant control (DBIFTC) is verified through the experiments and proves that the stability is well maintained, which demonstrates a decent performance. Design/methodology/approach This paper studies a control problem for a multi-vector propulsion ROV by using the DBIFTC method in the presence of thruster failure and external disturbances. The ROV kinematics and dynamical models with multi-vector-arranged thruster failure are investigated and formulated for control system design. Findings In this paper, the authors address the FTC problem of ROV with multi-vector thrusters and propose a DBIFTC scheme. The advantage is that as the kinematic system model of ROV is preanalyzed and identified, the DBIFTC becomes more effective. The mathematical stability of the system under the proposed control scheme can be guaranteed. Research limitations/implications The ROV model used in this paper is based on the system identification of experimental data. Although this model has real experimental value and physical significance, the accuracy can be further improved. Practical implications Cable-controlled underwater ROVs are widely used in military missions and scientific research because of their flexibility, sufficient load capacity and real-time information transmission characteristics. The DBIFTC method proposed in this paper can effectively reduce the problem of underwater vehicle under propeller failure or external disturbance and save unnecessary cost. Social implications The DBIFTC method proposed in this paper can ensure the attitude stability of ROV or other underwater equipment operating in the event of propeller failure or external disturbance. In this way, the robot can better perform undersea work and tasks. Originality/value The kinematics and failure mechanisms of the ROV with multi-vector propulsion system are investigated and established. An optimized DBIFTC scheme is investigated to stabilize ROV yaw attitude under the thruster failure condition. The feasibility and effectiveness of the DBIFTC is experimentally validated.

show abstract

Unmanned Water-Powered Aerial Vehicles: Theory and Experiments

Cited by 14 publications

References 16 publications

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Enhanced disturbance observer-based robust yaw servo control for ROVs with multi-vector propulsion

Motion Control System Design for a Flying-Type Firefighting System with Water Jet Actuators

Double-boundary interval fault-tolerant control for a multi-vector propulsion ROV with thruster failure

Contact Info

Product

Resources

About