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At very high speeds, the surfaces of underwater vehicle are enveloped by cavity entirely or mostly. Due to the existence of interactions between tail of body and cavity wall, supercavitating vehicle model is highly nonlinear. This paper applies dynamic inverse control as control inner-loop, and mathematical model of vehicle longitudinal motion is nonlinear decoupled through using dynamic inverse control...
Aiming at nonlinearity of underwater high-speed vehicle model and the existence of external disturbance, the paper proposes a new way of using active disturbance rejection controller to design vehicle control system. Through making research on nonlinear model of vehicle, extended state observer is applied for observing system nonlinearity, coupling terms and external disturbances, and are compensated...
This paper studies the tracking problem for an underactuated underwater vehicle moving in 6-degrees of freedom under environmental disturbances. By application of Lyapunov's direct method and parameter projection techniques, A robust adaptive continues controller is proposed to force the vehicle follow any smooth time-varying bounded trajectory, despite of the uncertainty of the vehicle's environmental...
Controlling of a supercavitating vehicle has been confronted with various challenging problems such as the potential instability of the vehicle, the unsteady nature of cavity dynamics, and the complex and non-linear nature of the interaction between vehicle and cavity. The vehicle model in the dive plane is given. From complex nonlinear model, a multiple inputs and outputs linear system is obtained...
Because of super-cavitation, there is no buoyancy force to balance the gravity of super-cavitating vehicle. In addition, there exists the nonlinear planing force on the vehicle. The motion of vehicle in the vertical plane tends to be unstable and the dynamic model of it is complicated and nonlinear. By introducing a feed-forward compensation and nonlinear state feedback, the nonlinear system could...
This paper considers the path tracking problem for a class of underactuated autonomous underwater vehicles (AUVs), where only surge force and stern plane are available for vehicle's 3DOF diving motion. For these torpedo-type flying vehicles, the pitch moment is proportional to the vehicle's forward speed. Therefore, if vehicle takes slow motion, then we cannot fully excite the vehicle's pitch motion...
Aqua is an underwater biomimetic vehicle designed and built at McGill University that uses six paddles to produce control and propulsion forces. It has the particularity of having time-periodic thrust due to its oscillating paddles. Using an existing dynamics model of the vehicle and a numerical simulation, three types of controllers were developed to provide trajectory tracking capabilities to the...
In this paper, coordinated motion control of underwater vehicle-manipulator system (UVMS) is addressed. In order for UVMS to carry out manipulation tasks alone, motion planning with consideration of redundancy and tracking control under disturbances are required. We propose redundancy resolution with optimization of restoring moments as motion planning and inverse optimal nonlinear Hinfin control...
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