The prototype of an unmanned underwater vehicle - stability and maintain a specified rate (original) (raw)

The Prototype of an Unmanned Underwater Vehicle – Stability and Maintain a Specified Course

Studies in Systems, Decision and Control, 2014

The paper presents the modules of the control system remotely operated unmanned underwater vehicle used to stabilize the exchange rate and maintain the direction of motion. The authors present a simple control algorithms, and presented the verification of the assumed conditions of a real object. The control algorithms used information from the accelerometers, pressure sensors and an electronic compass.

Design and Control of Unmanned Underwater Vehicle

Sukkur IBA Journal of Emerging Technologies, 2018

Unmanned Underwater Vehicles (UUV) are the robots that are used to monitor underwater environment at remote distance, either for inspection of underwater wreckage or for surveillance of underwater environment. Any such robot due to harshness of environment conditions needs a robust watertight design and requires various sensors for effective environment monitoring. The entire UUV structure is comprised of the vehicle, which is linked with operators on top of the surface by a set of cables that hold relevant cables for data and power communication. In this context, a lightweight underwater vehicle was designed using PVC (Polyvinyl Chloride) pipes and equipped with brushless DC motors, electronic speed controller, relay module, sonar, claw arm and Camera. It can navigate in six directions (up, down, left, right, forward, backward) and camera allows underwater surveillance of the environment, with sonar helping to indicate the target depth. The designed UUV can also perform basic pick and place task using a claw arm and is remotely operated using a joystick controller. Overall, the designed UUV prototype has shown its potential capabilities for underwater surveillance and environment monitoring through practical demonstrations.

Development of a control system for an Autonomous Underwater Vehicle

2010 IEEE/OES Autonomous Underwater Vehicles, 2010

This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles (AUVs) and Autonomous Surface Vehicles (ASV), moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetry communication by radio-modem. The vehicle is 2300mm long by 320mm wide. It weighs 85kg and reaches a maximum depth of 30m. A control system based on an embedded computer is designed and developed for this vehicle that allows a vehicle's autonomous navigation. This control system has been divided into navigation, propulsion, safety and data acquisition subsystems.

Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle

International Journal of Advanced Robotic Systems, 2014

Underwater remotely operated vehicles (ROVs) play an important role in a number of shallow and deep-water missions for marine science, oil and gas extraction, exploration and salvage. In these applications, the motions of the ROV are guided either by a human pilot on a surface support vessel through an umbilical cord providing power and telemetry, or by an automatic pilot. In the case of automatic control, ROV state feedback is provided by acoustic and inertial sensors and this state information, along with a controller strategy, is used to perform several tasks such as station-keeping and auto-immersion/heading, among others. In this paper, the modelling, design and control of the Kaxan ROV is presented: i) The complete six degrees of freedom, non linear hydrodynamic model with its parameters, ii) the Kaxan hardware/software architecture, iii) numerical simulations in Matlab/Simulink platform of a model-free second order sliding mode control along with ocean currents as disturbance...

Stabilizing the dynamic behavior and Position control of a Remotely Operated Underwater Vehicle

Wireless Personal Communications, 2020

Remotely operated underwater vehicle (ROUV) provides an interesting and extensible platform to search the wanted objects and for the inspection of deep sea. The basic goal of this research is to control the position and stabilize the dynamic behavior of ROUV. In this study, we design the dual controller approach design for controlling the overall responses of ROUV. The design dual controller consists of model reference adaptive control (MRAC) along with proportional integral derivative (PID) controller and an integral use for the feedback of the design scheme. The dynamic moments and disturbances in the system is dealt by MRAC controller and PID controller is responsible for tuning the adaptive gains of the system. However, Lyapunov stability criterion is responsible for the stability of the system. The inclusion of integrator as a feedback in the system increases the order of the system model, but it helps to eliminate the steady state error and also improves the convergence rate of the system. The designed control algorithm is tested and confirmed its validity using experiment and simulations by tracking the reference path of the ROUV. It is evidence that the designed control system shows quick convergence, improved steady state error and better robustness in the presence of disturbances.

Underwater Remotely Operated Vehicle Control System Ar-chitecture

2024

Underwater Remotely Operated Vehicle (ROV) control system architecture, work Class II-underwater inspection is demonstrated. The object is programmed on MATLAB simulink. The nonlinear modeled plants were processed by approximation way. Author planned a controller of an underwater ROV object. PID controller is used modeled plant. Tuning PID tool is used MATLAB for choose underwater ROV controller. Researchers tested an underwater ROV for system and solving problems an underwater ROV architecture.

A review on motion control of the Underwater Vehicles

2009

Unmanned Underwater Vehicles have gained popularity for the last decades, especially for the purpose of not risking human life in dangerous operations. On the other hand, underwater environment introduces numerous challenges in control, navigation and communication of such vehicles. Certainly, this fact makes the development of these vehicles more interesting and engineering-wise more attractive. In this review study, among the mentioned problems, we focus on the control of underwater vehicles, particularly the motion control. We try to summarize the evolution of the underwater vehicle motion control studies throughout the last two decades, and classify them.

Development of Control System for Small Autonomous Underwater Vehicle

2020

This work proposes the development of a control system for an autonomous underwater vehicle dedicated to the observation of the oceans. The vehicle, a hybrid between Autonomous Underwater Vehicles and Autonomous Surface Vehicles, that moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column, according to a pre-established plan. The displacement of the vehicle on the surface allows the navigation through GPS and telemetry communication by radio-modem. This control system has been divided into navigation, propulsion, safety and data acquisition subsystems.

Operations and control of unmanned underwater vehicles

Robótica, 2005

Operations and control of unmanned underwater vehicle systems are discussed in terms of systems and technologies, vehicles, operational deployments and concepts of operation. The notions underlying the specification of single vehicle operations are contrasted to new concepts of operation to illustrate the challenges they pose to control engineering. New research directions are discussed in the context of the theories and techniques from dynamic optimization and computer science. The overall discussion is done in the context of the activities of the

An autonomous underwater platform

1997

For manv subsea Autonomous Underwater Vehicle (AUV) operations station-holding against water current and decoupling benveen yaw and position are necessary requirements. This paper describes an Autonomous Undemater Platfbrm (AUP) that has been designed special11 to investigate and evaluate control methods which can provide this Qpe of stabiliiy. The AUP described is small and nimble, and has a re-configurable structure, cornprising a 2-dimensional A-frame with modules, thrust units and controllable brioyan mounted upon it. Two and f i v e niodiiles can be c according to mission requirement. The structure design of an AUV I S a complex trade-off among various design variables and mission requirements This paper presents the design and discusses the optimal conjiguration of the dynamics of the AUP, its sensor systems and control methods The control system of the pla?form is composed of a state control loop, a selfplaning arid navigation subs> stem and an ultrasonic comniunicatiori subsystem.