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

Depth control of an over-actuated, hover-capable autonomous underwater vehicle with experimental verification
Depth control of an over-actuated, hover-capable autonomous underwater vehicle with experimental verification
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.
0957-4158
67-81
Tanakitkorn, Kantapon
d5301173-f805-4c0e-9610-48b4996a4508
Wilson, Philip A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Turnock, Stephen R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f
Tanakitkorn, Kantapon
d5301173-f805-4c0e-9610-48b4996a4508
Wilson, Philip A.
8307fa11-5d5e-47f6-9961-9d43767afa00
Turnock, Stephen R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
Phillips, Alexander B.
f565b1da-6881-4e2a-8729-c082b869028f

Tanakitkorn, Kantapon, Wilson, Philip A., Turnock, Stephen R. and Phillips, Alexander B. (2017) Depth control of an over-actuated, hover-capable autonomous underwater vehicle with experimental verification. Mechatronics, 47, 67-81. (doi:10.1016/j.mechatronics.2016.11.006).

Record type: Article

Abstract

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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Submitted date: 15 September 2016
Accepted/In Press date: 24 November 2016
Published date: 1 February 2017
Organisations: Ocean Technology and Engineering, Fluid Structure Interactions Group

Identifiers

Local EPrints ID: 403014
URI: http://eprints.soton.ac.uk/id/eprint/403014
ISSN: 0957-4158
PURE UUID: eb178562-4167-4ebd-86bc-71986dc97fff
ORCID for Philip A. Wilson: ORCID iD orcid.org/0000-0002-6939-682X
ORCID for Stephen R. Turnock: ORCID iD orcid.org/0000-0001-6288-0400
ORCID for Alexander B. Phillips: ORCID iD orcid.org/0000-0003-3234-8506

Catalogue record

Date deposited: 22 Nov 2016 13:45
Last modified: 09 Jan 2022 03:17

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Contributors

Author: Kantapon Tanakitkorn
Author: Alexander B. Phillips ORCID iD

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