Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification

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• 作者：Kantapon Tanakitkorn ; ¹ ; ^a ; ^{K.Tanakitkorn@soton.ac.uk} ; ^{kt1e11@soton.ac.uk} ; Philip A. Wilson^a ; ^{Philip.Wilson@soton.ac.uk} ; Stephen R. Turnock^a ; ^{S.R.Turnock@soton.ac.uk} ; Alexander B. Phillips^b ; ^{abp@noc.co.uk}
• 关键词：Delphin2 ; AUV ; Depth control ; Over-actuated ; Hover-capable ; Energy consumption
• 刊名：Mechatronics
• 出版年：2017
• 出版时间：February 2017
• 年：2017
• 卷：41
• 期：Complete
• 页码：67-81
• 全文大小：5731 K
• 卷排序：41

文摘

A PI-D based control system is developed for over-actuated, hover-capable AUVs which enables a smooth transition from hover-style to flight-style operation with system stability and convergence proven using a Lyapunov approach. The performance of the controller is demonstrated by simulation and is verified through experiments. The approach is able to operate over a range of vehicle ballasting configurations, and to imposed external disturbances. The proposed system is computationally inexpensive and does not require a detailed hydrodynamic model to implement. By monitoring the energy consumption on board, the cost of maintaining depth at a range of forward speeds with different buoyancy conditions can be quantified, and their impact on the cost of transport is highlighted for future optimisation of energy consumption.