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Nonlinear H∞ Optimal Control Scheme for an Underwater Vehicle with Regional Function Formulation [PDF]
, 2013 A conventional region control technique cannot meet the demands for an accurate tracking performance in view of its inability to accommodate highly nonlinear system dynamics, imprecise hydrodynamic coefficients, and external disturbances.
Ismail, Zool +3 more
core +1 more source
Optimal design of power generation equipment for autonomous underwater vehicle
Advances in Mechanical Engineering, 2018 Autonomous underwater vehicle with the ability to generate electricity is an effective solution for detecting the ocean. In this article, a vertical-axis current generator for underwater vehicle is designed.
Fen Guo +3 more
doaj +1 more source
Tracking control of an underactuated unmanned underwater vehicle [PDF]
Proceedings of the 2005, American Control Conference, 2005., 2005 In this paper, a robust position tracking controller is developed for an autonomous, underactuated, unmanned underwater vehicle (UUV). Specifically, the proposed controller forces the three dimensional (i.e., longitudinal, latitudinal, and depth) position tracking error to within an arbitrarily small region about zero (i.e., global exponential ...
Abhijit Baviskar +3 more
openaire +1 more source
Imperfection sensitivity analysis for a composite bowed-out shell under axial compression
Advances in Mechanical Engineering, 2019 In this article, we present a systematic work to investigate the imperfection sensitivity of composite bowed-out shells with different layup patterns under axial compression. Two types of geometric imperfections, including eigenmode-shaped imperfections (
Zhun Li, Guang Pan, Kechun Shen
doaj +1 more source
Dynamics Modeling and Motion Simulation of USV/UUV with Linked Underwater Cable
Journal of Marine Science and Engineering, 2020 This paper describes a study on the dynamic modeling and the motion simulation of an unmanned ocean platform to overcome the limitations of existing unmanned ocean platforms for ocean exploration.
Sung Min Hong +2 more
doaj +1 more source
Deep Reinforcement Learning for Vectored Thruster Autonomous Underwater Vehicle Control
Complexity, 2021 Autonomous underwater vehicles (AUVs) are widely used to accomplish various missions in the complex marine environment; the design of a control system for AUVs is particularly difficult due to the high nonlinearity, variations in hydrodynamic ...
Tao Liu, Yuli Hu, Hui Xu
doaj +1 more source
Design of Sliding Mode Autopilot with Steady-state Error Elimination for Autonomous Underwater Vehicles [PDF]
, 2006 Autonomous Underwater Vehicles (AUVs) have nonlinear and time-varying behaviour and unmodelled dynamics. This paper describes the design, development and evaluation of nonlinear sliding mode autopilot system for an AUV to control the speed, steering and ...
Shi, Juan, Juan Shi
core +1 more source
DESIGN OPTIMISATION OF AN UNMANNED UNDERWATER VEHICLE
Journal of Engineering Science and Technology, 2007 The results of fluid flow simulation around an unmanned underwater vehicle (UUV) are presented in this paper. The UUV represents a small submarine for underwater search and rescue operation, which suits the local river conditions. The flow simulation was performed with a commercially available computational fluid dynamics package, Star-CD.
FIRDAUS ABDULLAH +2 more
openaire +2 more sources
A potential-flow based flight simulator for an underwater glider [PDF]
, 2013 Underwater gliders are recent innovative types of autonomous underwater vehicles (AUVs) used in ocean exploration and observation. They adjust their buoyancy to dive and to return to the ocean surface.
LAURENS, Jean-Marc +4 more
core +1 more source
Efficient dynamic simulation of an unmanned underwater vehicle with a manipulator [PDF]
Proceedings of the 1994 IEEE International Conference on Robotics and Automation, 2002 In this paper, an efficient dynamic simulation algorithm is developed for an unmanned underwater vehicle (UUV) with a robotic manipulator. It is based on an efficient O(N) algorithm where N is the number of links in the manipulator, and has been extended to include the full effects of a mobile base and various hydrodynamic forces that are exerted on ...
McMillian, Scott +2 more
openaire +2 more sources