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Responsive surging, heading and diving controls of autonomous underwater vehicle based on brute forcing and smoothing of controllers

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Title Responsive surging, heading and diving controls of autonomous underwater vehicle based on brute forcing and smoothing of controllers
 
Creator Yahya, M F
Arshad, M R
Majid, M H A
 
Subject Autonomous underwater vehicle
Brute force optimization
Control system
Proportional integral derivative
Sliding mode control
Surging heading diving
 
Description 884-889
There are many types of controllers had been used to control Autonomous Underwater Vehicle (AUV) such as
Proportional Integral Derivative (PID), Linear Quadratic Regulator (LQR), state feedback linearization, integrator backstepping,
and Sliding-Mode Control (SMC). However, for PID and SMC in particular, it is difficult to determine the optimal
control design parameters. The objective of this study is to design and develop a responsive motion control system with
optimal parameters for an AUV. The contribution of this paper is in term of introducing a filter to smooth reference signal
and proposing a brute forcing technique to find optimal controller parameters. The methodology starts with modeling the
AUV, estimating the unknown parameters from a real AUV model, designing a control system based on PI and SMC
methods, and finally optimizing the controller parameters. The controller design was onto controlling surge speed using PI,
heading using SMC, and diving using SMC. Simulation-wise, the developed control system has an average value of 93.89 %
of responsiveness to track desired trajectory while 82.33 % of responsiveness without using the smoothing filter. The tested
input signals were unit step, ramp, parabolic, and sinusoidal.
 
Date 2022-03-14T10:30:53Z
2022-03-14T10:30:53Z
2021-11
 
Type Article
 
Identifier 2582-6727 (Online); 2582-6506 (Print)
http://nopr.niscair.res.in/handle/123456789/59331
 
Language en
 
Publisher NIScPR-CSIR, India
 
Source IJMS Vol.50(11) [November 2021]