Station-Keeping Control of a Hovering Over-Actuated Autonomous Underwater Vehicle under Ocean Current Effects and Model Uncertainties in Horizontal Plane
Vu M.T. Le Thanh H.N.N. Huynh T.-T. Thang Q. Duc T. Hoang Q.-D. Le T.-H.
2021Institute of Electrical and Electronics Engineers Inc.
IEEE Access
2021#96855 - 6867 pp.
Nowadays, underwater vehicles (UVs) are applied to various tasks such as carrying objects or maintenance of underwater structures. To carry out well these tasks, UVs should keep the position and orientation in the water to perform the specified tasks. However, the systems used in underwater operations are always under the influence of disturbance such as ocean currents and model uncertainties. In this paper, the robust station-keeping (SK) control algorithm based on a sliding mode control (SMC) theory is designed to guarantee stability and better performance of a hovering over-actuated autonomous underwater vehicle (HAUV) despite the existence of model uncertainties and ocean current disturbance in the horizontal plane (HP). Using the Lyapunov theorem, the stability of the proposed controller is demonstrated. Besides, an optimal allocation control (AC) algorithm is also designed to keep the linear position and Euler angles of the HAUV in the presence of model uncertainties as well as ocean currents and to minimize the energy consumption of the system. Finally, a series of simulations and experiments for the HAUV system is conducted to demonstrate the superior performance of the proposed method.
experimental result , Over-actuated underwater vehicle , robust sliding mode controller , station-keeping control
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School of Intelligent Mechatronics Engineering, Sejong University, Seoul, 143-747, South Korea
HUTECH Institute of Engineering, Ho Chi Minh City University of Technology (HUTECH), Ho Chi Minh City, 700000, Viet Nam
Department of Electrical Engineering, Yuan Ze University, Taoyuan City, 32003, Taiwan
Department of Electrical Electronic and Mechanical Engineering, Lac Hong University, Bien Hoa, 830000, Viet Nam
Department of Naval Architecture and Ocean Engineering, Nha Trang University, Nha Trang, 650000, Viet Nam
Department of Robotics and Mechatronics, School Engineering and Digital Sciences, Nazarbayev University, Nur-Sultan, Z05H0P9, Kazakhstan
Institute of Mechanical Engineering, Vietnam Maritime University, Hai Phong, 182582, Viet Nam
Department of Mechanical Engineering, Kyung Hee University, Seoul, 130-701, South Korea
Department of Naval Architecture and Marine System Engineering, Ho Chi Minh City University of Technology (HCMUT), Ho Chi Minh City, Viet Nam
Vietnam National University Ho Chi Minh City, Ho Chi Minh City, Viet Nam
School of Intelligent Mechatronics Engineering
HUTECH Institute of Engineering
Department of Electrical Engineering
Department of Electrical Electronic and Mechanical Engineering
Department of Naval Architecture and Ocean Engineering
Department of Robotics and Mechatronics
Institute of Mechanical Engineering
Department of Mechanical Engineering
Department of Naval Architecture and Marine System Engineering
Vietnam National University Ho Chi Minh City
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