International Journal of Naval Architecture and Ocean Engineering

The Society of Naval Architects of Korea (대한조선학회)
권호 표지
DOI QR코드

DOI QR Code

A controller comprising tail wing control of a hybrid autonomous underwater vehicle for use as an underwater glider

  • Joo, Moon G. (Department of Information and Communications Engineering, Pukyong National University)
  • Received : 2018.09.28
  • Accepted : 2019.03.06
  • Published : 2019.02.18
Download PDF
⟨ Previous Next ⟩

Abstract

A controller for an underwater glider is presented. Considered underwater glider is a torpedo-shaped autonomous underwater vehicle installing adjustable buoyancy bag and movable battery in it. The controller is composed of an LQR controller to maintain zigzag vertical movement for gliding and two PD controllers to control elevator/rudder angles. The LQR controller controls the pumping speed into the buoyancy bag and the moving speed to locate the battery. One of the PD controller controls the elevator angle to assist the LQR controller, and the other controls the rudder angle to adjust the direction of the underwater glider. A reduced order Luenberger observer is adopted to estimates the center of gravity of the glider and the buoyancy mass that are essential but cannot be measured. Mathematical simulation using Matlab proved the validity of the proposed controller to obtain better performance than conventional LQR only controller under the influence of sea current.

Keywords

References

  1. Alvarez, A., 2010. Redesigning the SLOCUM glider for torpedo tube launching. IEEE J. Ocean. Eng. 35 (24), 984-991. https://doi.org/10.1109/JOE.2010.2057170
  2. Ballard, Robert D., 1993. The MEDEA/JASON remotely operated vehicle system. Deep Sea Res. Oceanogr. Res. Pap. 40 (8), 1673-1687. https://doi.org/10.1016/0967-0637(93)90021-T
  3. Eriksen, Charles C., Osse, T. James, Light, Russell D., Wen, Timothy, Lehman, Thomas W., Sabin, Peter L., Ballard, John W., Chiodi, Andrew M., 2001. Seaglider: a longrange autonomous underwater vehicle for oceanographic research. IEEE J. Ocean. Eng. 26 (4), 424-436.
  4. Fossen, Thor I., 1994. Guidance and Control of Ocean Vehicles. John Wiley & Sons, Ltd.
  5. Fossen, Thor I., 2011. Handbook of Marine Craft Hydrodynamics and Motion Control. John Wiley & Sons, Ltd.
  6. Hagen, Per Espen, Storkersen, Nils, Marthinsen, Bjorn-Erik, Sten, Geir, Vestgard, Karstein, 2008. Rapid environmental assessment with autonomous underwater vehicles - examples from HUGIN operations. J. Mar. Syst. 69, 137-145. https://doi.org/10.1016/j.jmarsys.2007.02.011
  7. Javadi-Moghaddam, J., Bagheri, A., 2010. An adaptive neuro-fuzzy sliding mode based genetic algorithm control system for under water remotely operated vehicle. Expert Syst. Appl. 37 (1), 647-660.
  8. Joo, Moon G., Qu, Zhihua, 2015. An autonomous underwater vehicle as an underwater glider and its depth control. IJCAS 13 (5), 1212-1220.
  9. Joo, Moon G.,Woo, Him-Chan, Son, Hyeong-Gon, 2017. Depth control of underwater glider using reduced order observer. IEMEK J. Embed. Syst. Appl. 12 (5), 311-318. https://doi.org/10.14372/IEMEK.2017.12.5.311
  10. Jun, Bong-Huan, Park, Jin-Yeong, Lee, Fill-Youb, Lee, Pan-Mook, Kim, Kihun, Lim, Young-Kon, Oh, Jun-Ho, 2009. Development of the AUV 'ISiMI' and a free running test in an ocean engineering basin. Ocean Eng. 36, 2-14. https://doi.org/10.1016/j.oceaneng.2008.07.009
  11. Presto, Timothy, 2001. Verification of a Six-Degree of Freedom Simulation Model for the REMUS Autonomous Underwater Vehicle. M. S. thesis. Applied ocean science and engineering, MIT & WHOI.
  12. Sherman, Jeff, Davis, Russ E., Owens, W.B., Valdes, J., 2001. The autonomous underwater glider 'Spray'. IEEE J. Ocean. Eng. 26 (4), 437-446. https://doi.org/10.1109/48.972076
  13. Shim, Hyungwon, Jun, Bong-Huan, Lee, Pan-Mook, Baek, Hyuk, Lee, Jihong, 2010. Workspace control system of underwater tele-operated manipulators on an ROV. Ocean Eng. 37 (11-12), 1036-1047. https://doi.org/10.1016/j.oceaneng.2010.03.017
  14. Wang, Shu-Xin, Sun, Xiu-Jun,Wang, Yan-Hui,Wu, Jian-Guo,Wang, Xiao-Ming, 2011. Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider. China Ocean Eng. 25 (1), 97-112. https://doi.org/10.1007/s13344-011-0008-7
  15. Webb, Douglas C., Simonetti, Paul J., Jones, Clayton P., 2001. SLOCUM: an underwater glider propelled by environmental energy. IEEE J. Ocean. Eng. 26 (4), 447-452. https://doi.org/10.1109/48.972077
  16. Xue, Dong-Yang, Wu, Zhi-Liang, Wang, Yan-Hui, Wang, Shu-Xin, 2018. Coordinate control, motion optimization and sea experiment of a fleet of Petrel-II gliders. Chin. J. Mech. Eng. 31 (17), 1-15. https://doi.org/10.1186/s10033-018-0219-4

Cited by

  1. Application of Fuzzy Theory and Optimum Computing to the Obstacle Avoidance Control of Unmanned Underwater Vehicles vol.10, pp.17, 2019, https://doi.org/10.3390/app10176105
  2. Design, Construction, and Control for an Underwater Vehicle Type Sepiida vol.39, pp.5, 2019, https://doi.org/10.1017/s0263574720000739