An important consideration for Autonomous Underwater Vehicles in shallow water is station keeping. Station keeping is the ability of the vehicle to maintain position and orientation with regard to a reference object. In shallow water AUV operations, where large hydrodynamic forces are developed due to waves, knowledge of the sea is critical to allow for the design of a control system that will enable the vehicle to accurately navigate and position itself while in the presence of non-deterministic disturbances. Recently it has been shown that it is possible to measure the shape of the sea surface using remote sensors such as acoustic probes, lasers or short wavelength radar. These measurements have made it possible to develop so called 'predictive' control strategies for many surface applications including hydrofoil operations and craning operations between vessels. The ability to develop predictive control strategies for underwater vehicles is limited by the ability to measure the environmental disturbances acting on the vehicle. In this paper we describe the design of a model based predictive controller that employs sub-surface sensors for disturbance prediction, to reduce wave induced effects on vehicle station keeping. Using linear wave theory and recursive estimation, an Auto Regressive (AR) model of the sea spectrum is developed. This dynamic model is then used to develop a forward predictor/estimator which is embodied in the controller to cancel the predictable portion of the non-deterministic disturbance on the vehicle thereby minimizing position error. Through simulation the ability of the Naval Postgraduate School's 'PHOENIX' AUV to maintain longitudinal position while subjected to actual wave disturbance data from coastal Monterey Bay is shown.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Model Based Predictive Control of AUVs for Station Keeping in a Shallow Water Wave Environment


    Beteiligte:
    J. Riedel (Autor:in) / A. J. Healey (Autor:in)

    Erscheinungsdatum :

    2005


    Format / Umfang :

    27 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch





    A Model Predictive Control Approach to AUVs Motion Coordination

    Lobo Pereira, Fernando / Borges de Sousa, J. / Gomes, R. et al. | Springer Verlag | 2014



    Fault-Tolerant formation keeping design for Multi-AUVs in MOOS-IvP

    Gao, Peiyan / Li, Yiping / Zeng, Junbao et al. | IEEE | 2022


    Station-Keeping of L2 Halo Orbits Under Sampled-Data Model Predictive Control

    Mohamed Elobaid / Mattia Mattioni / Salvatore Monaco et al. | BASE | 2022

    Freier Zugriff