System Identification and Controller Design of a Novel Autonomous Underwater Vehicle
Autonomous underwater vehicle is an effective tool for humans to explore the ocean. It can be used for the monitoring of underwater structures and facilities, which puts forward more accurate and stable requirements for the system operation of the autonomous underwater vehicle. This paper studies th...
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ftmdpi:oai:mdpi.com:/2075-1702/9/6/109/ 2023-08-20T04:03:33+02:00 System Identification and Controller Design of a Novel Autonomous Underwater Vehicle Baoju Wu Xiaowei Han Nanmu Hui 2021-05-26 application/pdf https://doi.org/10.3390/machines9060109 EN eng Multidisciplinary Digital Publishing Institute Automation and Control Systems https://dx.doi.org/10.3390/machines9060109 https://creativecommons.org/licenses/by/4.0/ Machines; Volume 9; Issue 6; Pages: 109 autonomous underwater vehicle (AUV) Arctic AUV mathematical model system parameter identification control scheme Text 2021 ftmdpi https://doi.org/10.3390/machines9060109 2023-08-01T01:48:24Z Autonomous underwater vehicle is an effective tool for humans to explore the ocean. It can be used for the monitoring of underwater structures and facilities, which puts forward more accurate and stable requirements for the system operation of the autonomous underwater vehicle. This paper studies the system and structural design, including the parameter identification design and control system design, of a novel autonomous underwater vehicle called “Arctic AUV”. The dynamic mathematical model of the “Arctic AUV” was established, and the system parameter identification method based on the multi-sensor least squares centralized fusion algorithm was proposed. The simplification of the mathematical model of the robot was theoretically derived, and the online parameter identification and motion control were combined, so that the robot could cope with the influence of the arctic water velocity and external turbulence. Based on the hybrid control scheme of adaptive PID and predictive control, the accurate motion control of the “Arctic AUV” was realized. A prototype of “Arctic AUV” was developed, and system parameter identification experiments were carried out in indoor pool water. Hybrid adaptive and predictive control experiments were also carried out. The validity of the parametric design method in this paper was verified, and by comparative experiment, the effect of the control method proposed in this paper was better than the traditional method. Text Arctic MDPI Open Access Publishing Arctic Machines 9 6 109 |
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Open Polar |
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MDPI Open Access Publishing |
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ftmdpi |
language |
English |
topic |
autonomous underwater vehicle (AUV) Arctic AUV mathematical model system parameter identification control scheme |
spellingShingle |
autonomous underwater vehicle (AUV) Arctic AUV mathematical model system parameter identification control scheme Baoju Wu Xiaowei Han Nanmu Hui System Identification and Controller Design of a Novel Autonomous Underwater Vehicle |
topic_facet |
autonomous underwater vehicle (AUV) Arctic AUV mathematical model system parameter identification control scheme |
description |
Autonomous underwater vehicle is an effective tool for humans to explore the ocean. It can be used for the monitoring of underwater structures and facilities, which puts forward more accurate and stable requirements for the system operation of the autonomous underwater vehicle. This paper studies the system and structural design, including the parameter identification design and control system design, of a novel autonomous underwater vehicle called “Arctic AUV”. The dynamic mathematical model of the “Arctic AUV” was established, and the system parameter identification method based on the multi-sensor least squares centralized fusion algorithm was proposed. The simplification of the mathematical model of the robot was theoretically derived, and the online parameter identification and motion control were combined, so that the robot could cope with the influence of the arctic water velocity and external turbulence. Based on the hybrid control scheme of adaptive PID and predictive control, the accurate motion control of the “Arctic AUV” was realized. A prototype of “Arctic AUV” was developed, and system parameter identification experiments were carried out in indoor pool water. Hybrid adaptive and predictive control experiments were also carried out. The validity of the parametric design method in this paper was verified, and by comparative experiment, the effect of the control method proposed in this paper was better than the traditional method. |
format |
Text |
author |
Baoju Wu Xiaowei Han Nanmu Hui |
author_facet |
Baoju Wu Xiaowei Han Nanmu Hui |
author_sort |
Baoju Wu |
title |
System Identification and Controller Design of a Novel Autonomous Underwater Vehicle |
title_short |
System Identification and Controller Design of a Novel Autonomous Underwater Vehicle |
title_full |
System Identification and Controller Design of a Novel Autonomous Underwater Vehicle |
title_fullStr |
System Identification and Controller Design of a Novel Autonomous Underwater Vehicle |
title_full_unstemmed |
System Identification and Controller Design of a Novel Autonomous Underwater Vehicle |
title_sort |
system identification and controller design of a novel autonomous underwater vehicle |
publisher |
Multidisciplinary Digital Publishing Institute |
publishDate |
2021 |
url |
https://doi.org/10.3390/machines9060109 |
geographic |
Arctic |
geographic_facet |
Arctic |
genre |
Arctic |
genre_facet |
Arctic |
op_source |
Machines; Volume 9; Issue 6; Pages: 109 |
op_relation |
Automation and Control Systems https://dx.doi.org/10.3390/machines9060109 |
op_rights |
https://creativecommons.org/licenses/by/4.0/ |
op_doi |
https://doi.org/10.3390/machines9060109 |
container_title |
Machines |
container_volume |
9 |
container_issue |
6 |
container_start_page |
109 |
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1774713954437693440 |