The University of Southampton
University of Southampton Institutional Repository

Research on integrated controller to reduce the roll and pitch of the AUV with a horizontal rudder

Research on integrated controller to reduce the roll and pitch of the AUV with a horizontal rudder
Research on integrated controller to reduce the roll and pitch of the AUV with a horizontal rudder
When underwater vehicles sail near the surface at low speed, they will experience roll, pitch and heave heavily due to the disturbance from waves, sea wind, and currents. In order to improve the ability of the underwater vehicle to resist the disturbance, the horizontal rudder using the lift principle of zero speed fin stabilizer is proposed to reduce the roll and pitch of the underwater vehicle. Considering the underwater vehicle’s 6-DOF nonlinear and coupling motions and the working principle of the horizontal rudder, a modified sliding mode integrated controller is designed to reduce the roll and pitch under different wave disturbances. After analyzing the simulation results, it shows that the control law can reduce the roll and pitch of an underwater vehicle effectively.
0029-8018
Zhigang, Qi
dd30d3a1-0508-4495-9a7a-c5b3380ed4fa
Jiuwu, Hui
4c0a78e6-c6a5-4b7e-8996-6e7f56645db4
Xin, Yuan
eeb7cfb7-8536-44ac-b48b-67188a15326b
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00
Zhigang, Qi
dd30d3a1-0508-4495-9a7a-c5b3380ed4fa
Jiuwu, Hui
4c0a78e6-c6a5-4b7e-8996-6e7f56645db4
Xin, Yuan
eeb7cfb7-8536-44ac-b48b-67188a15326b
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00

Zhigang, Qi, Jiuwu, Hui, Xin, Yuan and Wilson, Philip (2018) Research on integrated controller to reduce the roll and pitch of the AUV with a horizontal rudder. Ocean Engineering. (Submitted)

Record type: Article

Abstract

When underwater vehicles sail near the surface at low speed, they will experience roll, pitch and heave heavily due to the disturbance from waves, sea wind, and currents. In order to improve the ability of the underwater vehicle to resist the disturbance, the horizontal rudder using the lift principle of zero speed fin stabilizer is proposed to reduce the roll and pitch of the underwater vehicle. Considering the underwater vehicle’s 6-DOF nonlinear and coupling motions and the working principle of the horizontal rudder, a modified sliding mode integrated controller is designed to reduce the roll and pitch under different wave disturbances. After analyzing the simulation results, it shows that the control law can reduce the roll and pitch of an underwater vehicle effectively.

Text
paper-submitted - Author's Original
Download (2MB)

More information

Submitted date: 8 April 2018

Identifiers

Local EPrints ID: 419622
URI: http://eprints.soton.ac.uk/id/eprint/419622
ISSN: 0029-8018
PURE UUID: 96618431-013a-486d-9f77-d0d9683852c9
ORCID for Philip Wilson: ORCID iD orcid.org/0000-0002-6939-682X

Catalogue record

Date deposited: 16 Apr 2018 16:30
Last modified: 12 Dec 2021 02:35

Export record

Contributors

Author: Qi Zhigang
Author: Hui Jiuwu
Author: Yuan Xin
Author: Philip Wilson ORCID iD

Download statistics

Downloads from ePrints over the past year. Other digital versions may also be available to download e.g. from the publisher's website.

View more statistics

Atom RSS 1.0 RSS 2.0

Contact ePrints Soton: eprints@soton.ac.uk

ePrints Soton supports OAI 2.0 with a base URL of http://eprints.soton.ac.uk/cgi/oai2

This repository has been built using EPrints software, developed at the University of Southampton, but available to everyone to use.

We use cookies to ensure that we give you the best experience on our website. If you continue without changing your settings, we will assume that you are happy to receive cookies on the University of Southampton website.

×