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Research Papers

Heading Autopilot of Autonomous Underwater Vehicles With Internal Moving Mass

[+] Author and Article Information
Bo Li

Department of Ocean and
Mechanical Engineering,
Florida Atlantic University,
Boca Raton, FL 33431
e-mail: bli2013@fau.edu

Tsung-Chow Su

Professor Department of Ocean and
Mechanical Engineering,
Florida Atlantic University,
Boca Raton, FL 33431
e-mail: su@fau.edu

1Corresponding author.

Contributed by the Design Engineering Division of ASME for publication in the JOURNAL OF COMPUTATIONAL AND NONLINEAR DYNAMICS. Manuscript received September 30, 2015; final manuscript received August 24, 2016; published online December 2, 2016. Assoc. Editor: Zdravko Terze.

J. Comput. Nonlinear Dynam 12(2), 021003 (Dec 02, 2016) (7 pages) Paper No: CND-15-1315; doi: 10.1115/1.4034727 History: Received September 30, 2015; Revised August 24, 2016

Inspired by the designs of underwater gliders, hybrid autonomous underwater vehicles (AUVs) have emerged recently, which use internal actuators instead of control surfaces to control the heading angle and depth of the vehicles. In this paper, we focus on controlling the heading angle of a REMUS AUV by using an internal moving mass. We derive a nonlinear dynamical model of the vehicle with hydrodynamic forces and coupling between the vehicle and the internal moving mass. The model is used to study the stability of the horizontal-plane motion of the vehicle and to design a linear feedback law to stabilize its heading angle around a desired direction. Simulation results demonstrate that a controlled internal moving mass is able to fulfill the purpose of heading control.

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Figures

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Fig. 1

A REMUS AUV with an internal moving mass

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Fig. 2

The phase portrait of the horizontal-plane motion

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Fig. 3

The equilibrium points of the horizontal-plane motion of the dynamical system given by Eq. (17) with increasing yg

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Fig. 4

The equilibrium points of the roll motion of the dynamical system given by Eq. (17) with increasing yg

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Fig. 5

Simulation of u, v, r, and p under initial condition x0

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Fig. 6

Simulation of ϕ,ψ,yv, and pv2 under initial condition x0

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Fig. 7

Simulation of u, v, r, and p under initial condition x̃0

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Fig. 8

Simulation of ϕ,ψ,yv, and pv2 under initial condition x̃0

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