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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)
Development and analysis of real time software for autonomous underwater vehicles
Title
Development and analysis of real time software for autonomous underwater vehicles.
Creator
Flanigan, Thomas Christopher., Florida Atlantic University, Smith, Samuel M.
Abstract/Description
Any Autonomous Underwater Vehicle (AUV) software system is expected to be dynamic due to changes in mission goals, addition of new hardware, implementation of new algorithms, etc. Thus, for a successful AUV program, it is important to have a carefully and properly designed software architecture that is flexible enough to accommodate future changes. The AUV program in the Ocean Engineering Department of Florida Atlantic University has undergone significant development over the past one and a...
Show moreAny Autonomous Underwater Vehicle (AUV) software system is expected to be dynamic due to changes in mission goals, addition of new hardware, implementation of new algorithms, etc. Thus, for a successful AUV program, it is important to have a carefully and properly designed software architecture that is flexible enough to accommodate future changes. The AUV program in the Ocean Engineering Department of Florida Atlantic University has undergone significant development over the past one and a half years to achieve a flexible software system. This flexible architecture should also help in performing diverse kinds of AUV missions with minimal reconfiguration. The focus of this thesis work is to perform m evaluation of the past and present software systems used in our AUVs, and to describe the implementation details that were necessary for the migration of the past software system to a newer, more flexible and powerful software architecture. Another purpose of the thesis is also to describe the design philosophy behind the new architecture and its impact on the AUV program.
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Date Issued
2002
PURL
http://purl.flvc.org/fcla/dt/12947
Subject Headings
Oceanographic submersibles--Automatic control, Real-time control
Format
Document (PDF)
passive platform for tracking underwater vehicles
Title
A passive platform for tracking underwater vehicles.
Creator
Dufour, Emmanuel R., Florida Atlantic University, Glegg, Stewart A. L.
Abstract/Description
Over recent years, the trend in Autonomous Underwater Vehicle (AUV) design has been to reduce vehicle size and cost. On board navigation systems are both large and expensive so alternate solutions for vehicle positioning are required. The thesis explores the performance of a passive platform, the Ambient Noise Sonar (ANS), in remotely detecting, localizing and tracking submersible vessels. This task is achieved by exploiting communication signatures emitted by the moving submersible. The...
Show moreOver recent years, the trend in Autonomous Underwater Vehicle (AUV) design has been to reduce vehicle size and cost. On board navigation systems are both large and expensive so alternate solutions for vehicle positioning are required. The thesis explores the performance of a passive platform, the Ambient Noise Sonar (ANS), in remotely detecting, localizing and tracking submersible vessels. This task is achieved by exploiting communication signatures emitted by the moving submersible. The utility modem integrated on the AUV can be operated in a PSK and a MFSK mode. It was demonstrated that the ANS successfully tracks AUVs in both cases. First, the thesis presents the sonar beamformer and shows its potential for tracking by using the AUV communication signals. It describes a scheme developed to enhance the processor performance in a multi-target configuration and clutter. Then, it discusses promising tracking results from experiments conducted in summer and fall 1998, off the coast of South Florida.
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Date Issued
1999
PURL
http://purl.flvc.org/fcla/dt/15671
Subject Headings
Oceanographic submersibles--Automatic control, Underwater acoustics, Acoustical engineering
Format
Document (PDF)
Simulation, control and optimization of underwater vehicle performance
Title
Simulation, control and optimization of underwater vehicle performance.
Creator
Zipf, David Glenn., Florida Atlantic University, Dunn, Stanley E., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
This project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of...
Show moreThis project addresses the simulation, control and optimization of underwater vehicle performance. An analytical model of underwater vehicle motion has been developed. This model is based on a set of six degree of freedom nonlinear differential equations of motion. These equations incorporate inertial, hydrodynamic, hydrostatic, gravity and thruster forces to define the vehicle's motion. The forces are calculated and the equations of motion solved using a finite difference method of integration. An automatic closed loop control strategy has been developed and integrated into the motion model. The controller determines control plane deflection and thruster output based on sensor provided input, maneuver request and control gain constants. The motion model simulates the effects of these controller requests on the vehicle motion. The controller effects are analyzed and an optimal set of control gains is determined. These optimal gains are determined based on a quantitative comparison of a pre-defined Performance Index (PI) function. The PI is a function of critical performance values, i.e., energy consumption, and user defined weighted constants. By employing an iteration technique the PI is minimized to provide an optimal set of control gains.
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Date Issued
1989
PURL
http://purl.flvc.org/fcla/dt/14534
Subject Headings
Oceanographic submersibles--Automatic control, Oceanographic submersibles--Simulation methods, Vehicles, Remotely piloted
Format
Document (PDF)
fuzzy logic based flight control system for the FAU "Ocean Voyager" autonomous underwater vehicle
Title
A fuzzy logic based flight control system for the FAU "Ocean Voyager" autonomous underwater vehicle.
Creator
Anderson, Donald Taylor., Florida Atlantic University, Smith, Samuel M.
Abstract/Description
The development of a Flight Control System for a non-linear six degree of freedom model of an Autonomous Underwater Vehicle is described. Heading, pitch and depth are regulated by three independent Fuzzy Logic Controllers (FLCs). Numerical methods are used to tune rule bases to control tables that are based on the minimum time characteristics of the model. Setpoint errors are eliminated using fuzzily constrained integrators. A scheme to vary control policy with forward speed is also detailed....
Show moreThe development of a Flight Control System for a non-linear six degree of freedom model of an Autonomous Underwater Vehicle is described. Heading, pitch and depth are regulated by three independent Fuzzy Logic Controllers (FLCs). Numerical methods are used to tune rule bases to control tables that are based on the minimum time characteristics of the model. Setpoint errors are eliminated using fuzzily constrained integrators. A scheme to vary control policy with forward speed is also detailed. System stability is evaluated using cell-to-cell mapping. A variable structure fuzzy heading controller is designed for an unstable non-linear model of an Unmanned Underwater Vehicle. Scheduling of scaling parameters accommodates changes in forward speed as predicted by thruster RPM and angular distance turned. This FLC combines bang-bang and linear type control to respond more rapidly and robustly than a gain scheduled linear PID controller.
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Date Issued
1993
PURL
http://purl.flvc.org/fcla/dt/14899
Subject Headings
Fuzzy sets, Submersibles--Control systems, Oceanographic submersibles--Automatic control
Format
Document (PDF)
Automated Launch and Recovery of an Autonomous Underwater Vehicle from an Unmanned Surface Vessel
Title
Automated Launch and Recovery of an Autonomous Underwater Vehicle from an Unmanned Surface Vessel.
Creator
Sarda, Edoardo I, Dhanak, Manhar R., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Research on collaboration among unmanned platforms is essential to improve the applications for autonomous missions, by expanding the working environment of the robotic systems, and reducing the risks and the costs associated with conducting manned operations. This research is devoted to enable the collaboration between an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV), by allowing the first one to launch and recover the second one. The objective of this...
Show moreResearch on collaboration among unmanned platforms is essential to improve the applications for autonomous missions, by expanding the working environment of the robotic systems, and reducing the risks and the costs associated with conducting manned operations. This research is devoted to enable the collaboration between an Unmanned Surface Vehicle (USV) and an Autonomous Underwater Vehicle (AUV), by allowing the first one to launch and recover the second one. The objective of this dissertation is to identify possible methods to launch and recover a REMUS 100 AUV from a WAM-V 16 USV, thus developing this capability by designing and implementing a launch and recovery system (LARS). To meet this objective, a series of preliminary experiments was first performed to identify two distinct methods to launch and recover the AUV: mobile and semi-stationary. Both methods have been simulated using the Orcaflex software. Subsequently, the necessary control systems to create the mandatory USV autonomy for the purpose of launch and recovery were developed. Specifically, a series of low-level controllers were designed and implemented to enable two autonomous maneuvers on the USV: station-keeping and speed & heading control. In addition, a level of intelligence to autonomously identify the optimal operating conditions within the vehicles' working environment, was derived and integrated on the USV. Lastly, a LARS was designed and implemented on the vehicles to perform the operation following the proposed methodology. The LARS and all subsystems developed for this research were extensively tested through sea-trials. The methodology for launch and recovery, the design of the LARS and the experimental findings are reported in this document.
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Date Issued
2016
PURL
http://purl.flvc.org/fau/fd/FA00004631, http://purl.flvc.org/fau/fd/FA00004631
Subject Headings
Underwater acoustic telemetry., Fuzzy systems., Nonlinear control theory., Adaptive signal processing., Oceanographic submersibles--Automatic control., Submersibles--Control systems.
Format
Document (PDF)
A high-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform an autonomous launch and recovery (ALR) of an unmanned underwater vehicle (UUV)
Title
A high-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform an autonomous launch and recovery (ALR) of an unmanned underwater vehicle (UUV).
Creator
Pearson, David, An, Pak-Cheung, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
There have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high...
Show moreThere have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high-level fuzzy logic guidance controller for a WAM-V 14 USV in order to autonomously launch and recover a REMUS 100 AUV. The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy logic Waypoint-Heading controller has been developed to provide the desired heading and speed commands to the low-level controller given the Waypoint-Heading goals. High-level mission control has been extensively simulated using Matlab and partially characterized in real-time during testing. Detailed simulation, experimental results and findings will be reported in this paper.
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Date Issued
2014
PURL
http://purl.flvc.org/fau/fd/FA00004315, http://purl.flvc.org/fau/fd/FA00004315
Subject Headings
Adaptive signal processing, Fuzzy sets, Fuzzy systems, Nonlinear control theory, Oceanographic submersibles -- Automatic control, Submersibles -- Control systems, Underwater acoustic telemetry
Format
Document (PDF)