0
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.

FIGURES IN THIS ARTICLE
<>
Copyright © 2017 by ASME
Your Session has timed out. Please sign back in to continue.

References

Meneses, A. M. , Li, B. , Dhanak, M. , and Su, T.-C. , 2014, “ Development of a Morphing AUV for Path and Station Keeping in Complex Current Environments,” 24th International Ocean and Polar Engineering Conference, International Society of Offshore and Polar Engineers, Busan, Korea, pp. 421–428.
Saunders, A. , and Nahon, M. , 2002, “ The Effect of Forward Vehicle Velocity on Through-Body AUV Tunnel Thruster Performance,” OCEANS'02 MTS/IEEE, Biloxi, MS, Vol. 1, pp. 250–259.
Palmer, A. , Hearn, G. E. , and Stevenson, P. , 2008, “ Modelling Tunnel Thrusters for Autonomous Underwater Vehicles,” Second IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, International Federation of Automatic Control (IFAC), Killaloe, Ireland, Vol. 2, pp. 91–96.
Steenson, L. , Phillips, A. , Rogers, E. , Furlong, M. , and Turnock, S. , 2011, “ The Performance of Vertical Tunnel Thrusters on an Autonomous Underwater Vehicle Operating Near the Free Surface in Waves,” Second International Symposium on Marine Propulsors, Hamburg, Germany.
Alvarez, A. , Caffaz, A. , Caiti, A. , Casalino, G. , Gualdesi, L. , Turetta, A. , and Viviani, R. , 2009, “ Folaga: A Low-Cost Autonomous Underwater Vehicle Combining Glider and AUV Capabilities,” Ocean Eng., 36(1), pp. 24–38. [CrossRef]
Yoshida, H. , Hyakudome, T. , Ishibashi, S. , Ochi, H. , Watanabe, Y. , Sawa, T. , Nakano, Y. , Ohmika, S. , Sugesawa, M. , and Nakatani, T. , 2012, “ Development of the Cruising-AUV Jinbei,” OCEANS, 2012-Yeosu, IEEE, Yeosu, Korea, pp. 1–4.
Santhakumar, M. , and Asokan, T. , 2013, “ Power Efficient Dynamic Station Keeping Control of a Flat-Fish Type Autonomous Underwater Vehicle Through Design Modifications of Thruster Configuration,” Ocean Eng., 58, pp. 11–21. [CrossRef]
Graver, J. G. , 2005, “ Underwater Gliders: Dynamics, Control and Design,” Ph.D. thesis, Princeton University, Princeton, NJ.
Eriksen, C. C. , Osse, T. J. , Light, R. D. , Wen, T. , Lehman, T. W. , Sabin, P. L. , Ballard, J. W. , and Chiodi, A. M. , 2001, “ Seaglider: A Long-Range Autonomous Underwater Vehicle for Oceanographic Research,” IEEE J. Oceanic Eng., 26(4), pp. 424–436. [CrossRef]
Sherman, J. , Davis, R. , Owens, W. , and Valdes, J. , 2001, “ The Autonomous Underwater Glider ‘Spray’,” IEEE J. Oceanic Eng., 26(4), pp. 437–446. [CrossRef]
Webb, D. C. , Simonetti, P. J. , and Jones, C. P. , 2001, “ Slocum: An Underwater Glider Propelled by Environmental Energy,” IEEE J. Oceanic Eng., 26(4), pp. 447–452. [CrossRef]
Leonard, N. E. , and Graver, J. G. , 2001, “ Model-Based Feedback Control of Autonomous Underwater Gliders,” IEEE J. Oceanic Eng., 26(4), pp. 633–645. [CrossRef]
Caffaz, A. , Caiti, A. , Calabrò, V. , Casalino, G. , Guerrini, P. , Maguer, A. , Munafò, A. , Potter, J. , Tay, H. , and Turetta, A. , 2012, “ The Enhanced Folaga: A Hybrid AUV With Modular Payloads,” Further Advances in Unmanned Marine Vehicles, Institution of Engineering and Technology, London, pp. 309–330.
Li, J.-W. , Song, B.-W. , and Shao, C. , 2008, “ Tracking Control of Autonomous Underwater Vehicles With Internal Moving Mass,” Acta Autom. Sin., 34(10), pp. 1319–1323. [CrossRef]
Marsden, J. E. , and Ratiu, T. S. , 1999, Introduction to Mechanics and Symmetry: A Basic Exposition of Classical Mechanical Systems (Texts in Applied Mathematics), 2nd ed., Springer, New York.
Terze, Z. , Müller, A. , and Zlatar, D. , 2015, “ Lie-Group Integration Method for Constrained Multibody Systems in State Space,” Multibody Syst. Dyn., 34(3), pp. 275–305. [CrossRef]
Terze, Z. , Müller, A. , and Zlatar, D. , 2015, “ An Angular Momentum and Energy Conserving Lie-Group Integration Scheme for Rigid Body Rotational Dynamics Originating From Störmer–Verlet Algorithm,” ASME J. Comput. Nonlinear Dyn., 10(5), pp. 1–11.
Leonard, N. E. , 1997, “ Stability of a Bottom-Heavy Underwater Vehicle,” Automatica, 33(3), pp. 331–346. [CrossRef]
Woolsey, C. A. , 2001, “ Energy Shaping and Dissipation: Underwater Vehicle Stabilization Using Internal Rotors,” Ph.D. thesis, Princeton University, Princeton, NJ.
Woolsey, C. A. , and Leonard, N. E. , 2002, “ Stabilizing Underwater Vehicle Motion Using Internal Rotors,” Automatica, 38(12), pp. 2053–2062. [CrossRef]
Tallapragada, P. , 2015, “ A Swimming Robot With an Internal Rotor as a Nonholonomic System,” American Control Conference (ACC), IEEE, Chicago, IL, pp. 657–662.
Hong, E. Y. , and Chitre, M. , 2015, Roll Control of an Autonomous Underwater Vehicle Using an Internal Rolling Mass (Springer Tracts in Advanced Robotics), Vol. 105, Springer International Publishing, Berlin, pp. 229–242.
Panish, R. , 2009, “ Dynamic Control Capabilities and Developments of the Bluefin Robotics AUV Fleet,” International Symposium on Unmanned Untethered Submersible Technology (UUST), pp. 23–26.
Prestero, T. J. , 2001, “ Verification of a Six-Degree of Freedom Simulation Model for the REMUS Autonomous Underwater Vehicle,” Master's thesis, Massachusetts Institute of Technology, Cambridge, MA.
Fossen, T. I. , 2011, Handbook of Marine Craft Hydrodynamics and Motion Control, Wiley, New York.
Holm, D. D. , 2011, Geometric Mechanics: Part II: Rotating, Translating and Rolling, 2nd ed., Imperial College Press, London.
Hoerner, S. F. , 1965, Fluid-Dynamic Drag: Practical Information on Aerodynamic Drag and Hydrodynamic Resistance, Hoerner Fluid Dynamics, Midland Park, NJ.
Hoerner, S. F. , and Borst, H. V. , 1985, Fluid-Dynamic Lift: Practical Information on Aerodynamic and Hydrodynamic Lift, Hoerner Fluid Dynamics, Brick Town, NJ.
Li, B. , and Su, T.-C. , 2015, “ Dynamics of REMUS AUV in Ocean Current,” 25th International Ocean and Polar Engineering Conference, International Society of Offshore and Polar Engineers, Kona, Big Island, Hawaii, pp. 530–537.

Figures

Grahic Jump Location
Fig. 1

A REMUS AUV with an internal moving mass

Grahic Jump Location
Fig. 2

The phase portrait of the horizontal-plane motion

Grahic Jump Location
Fig. 3

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

Grahic Jump Location
Fig. 4

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

Grahic Jump Location
Fig. 5

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

Grahic Jump Location
Fig. 6

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

Grahic Jump Location
Fig. 7

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

Grahic Jump Location
Fig. 8

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

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In