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Design, implementation and testing of a bio-inspired propulsion system for autonomous underwater vehicles
Title
Design, implementation and testing of a bio-inspired propulsion system for autonomous underwater vehicles.
Creator
Le Goff, Ivan., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Some Autonomous Underwater Vehicles have recently been designed to mimic the locomotion of underwater animals. A new way of propulsion which uses Oscillating Fin Thrusters (OFTs) has been implemented on the AUV Morpheus, with the Nektor module. In particular, first a low level adaptive controller has been developed with the purpose of studying the characteristics of the OFT. Then, a new vehicle using Morpheus' base has been built in order to implement this module and test it. This required...
Show moreSome Autonomous Underwater Vehicles have recently been designed to mimic the locomotion of underwater animals. A new way of propulsion which uses Oscillating Fin Thrusters (OFTs) has been implemented on the AUV Morpheus, with the Nektor module. In particular, first a low level adaptive controller has been developed with the purpose of studying the characteristics of the OFT. Then, a new vehicle using Morpheus' base has been built in order to implement this module and test it. This required for the Lonworks network to be interfaced with QNXnet to create a multi communication protocol vehicle. Concerning the high level control, some proportional controllers and a 6-degree of freedom adaptive controller have been implemented and tested on the new vehicle. The results from these tests have shown that the Nektor module is suitable for the Morpheus, providing high-maneuverability features unavailable when using more standard propulsion systems.
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Date Issued
2003
PURL
http://purl.flvc.org/fcla/dt/13000
Subject Headings
Oceanographic submersibles--Computer simulation, Underwater propulsion
Format
Document (PDF)
Design of an adaptive nonlinear controller for an autonomous underwater vehicle equipped with a vectored thruster
Title
Design of an adaptive nonlinear controller for an autonomous underwater vehicle equipped with a vectored thruster.
Creator
Morel, Yannick., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
The tasks Autonomous Underwater Vehicles (AUVs) are expected to perform are becoming more and more challenging. Thus, to be able to address such tasks, we implemented a high maneuverability propulsion system: a vectored thruster. The design of a vehicle equipped with such a propulsion system will be presented, from a mechanical, electronic and software point of view. The motion control of the resulting system is fairly complex, and no suitable controller is available in the literature....
Show moreThe tasks Autonomous Underwater Vehicles (AUVs) are expected to perform are becoming more and more challenging. Thus, to be able to address such tasks, we implemented a high maneuverability propulsion system: a vectored thruster. The design of a vehicle equipped with such a propulsion system will be presented, from a mechanical, electronic and software point of view. The motion control of the resulting system is fairly complex, and no suitable controller is available in the literature. Accordingly, we will present the derivation of a novel tracking controller, whose adaptive properties will compensate for the lack of knowledge of the system's parameters. Computer simulations are provided and show the performance and robustness of the proposed control algorithm to external perturbations, unmodelled dynamics and dynamics variation. We finally illustrate the advantage of using an adaptive controller by comparing the presented controller to a Proportional Integral Derivative controller.
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Date Issued
2002
PURL
http://purl.flvc.org/fcla/dt/12986
Subject Headings
Hydrodynamics, Nonlinear control theory, Adaptive control systems, Oceanographic submersibles
Format
Document (PDF)
Dynamic simulation and control of an autonomous surface vehicle
Title
Dynamic simulation and control of an autonomous surface vehicle.
Creator
VanZwieten, Tannen S., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Autonomous Surface Vehicle (ASV) research and development is inspired by the navigating and communicatiog challenges of Autonomous Underwater Vehicles (AUVs). The development objective is to provide real time positioning of and communication with AUVs through the air-sea interface. Despite extensive research on AUVs, the ASV has had limited research. The NAVY's desire to make AUV's defense capabilities realizable adds to the project's appeal. Guidance and control play an integral part in the...
Show moreAutonomous Surface Vehicle (ASV) research and development is inspired by the navigating and communicatiog challenges of Autonomous Underwater Vehicles (AUVs). The development objective is to provide real time positioning of and communication with AUVs through the air-sea interface. Despite extensive research on AUVs, the ASV has had limited research. The NAVY's desire to make AUV's defense capabilities realizable adds to the project's appeal. Guidance and control play an integral part in the ASV's success, motivating this thesis work. The overall vehicle dynamics were modeled and numerically simulated for 3 DOF lateral motion. These are development tools for the testing and tuning of PID and adaptive control algorithms. The results show the adaptive controller to be advantageous in terms of tuning, robustness and tracking performances. It uses a single layer neural network that bypasses the need for information about the system's dynamic structure and characteristics and provides portability.
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Date Issued
2003
PURL
http://purl.flvc.org/fcla/dt/13081
Subject Headings
Hydrodynamics, Adaptive control systems--Computer simulation, PID controllers--Computer simulation, Neural networks (Computer science)
Format
Document (PDF)
Control design for highly maneuverable autonomous underwater vehicles
Title
Control design for highly maneuverable autonomous underwater vehicles.
Creator
Poirrier, Ronald., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Accurate Autonomous Underwater Vehicles positioning requires an appropriate control design which takes into account the nonlinear coupling between the different degrees of freedom. Assuming a vehicle equipped with two side-thruster modules including two tunnel thrusters each, the control problem will be split into an outer control loop handling the motion of the vehicle, and an inner control loop designed to track the thrust commanded to each thruster. A multivariable Lyapunov function based...
Show moreAccurate Autonomous Underwater Vehicles positioning requires an appropriate control design which takes into account the nonlinear coupling between the different degrees of freedom. Assuming a vehicle equipped with two side-thruster modules including two tunnel thrusters each, the control problem will be split into an outer control loop handling the motion of the vehicle, and an inner control loop designed to track the thrust commanded to each thruster. A multivariable Lyapunov function based approach, characterized by robustness properties with respect to parametric uncertainties and linearly bounded control output, will be proposed for the outer-loop and simulation results will be discussed. Regarding the low-level control framework, the performance of nine different controllers including conventional PI, sliding mode fuzzy controllers, and adaptive schemes such as model reference and sliding mode adaptive controllers, will be compared through theoretical derivations and experimental results. Such a comparison will show the advantages of the adaptive schemes in terms of tuning, robustness, and tracking performances.
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Date Issued
2001
PURL
http://purl.flvc.org/fau/fd/FADT12777
Subject Headings
Submersibles--Automatic control, Oceanographic submersibles
Format
Document (PDF)