Heading Autopilot of Autonomous Underwater Vehicles With Internal Moving Mass

Author:

Li Bo1,Su Tsung-Chow2

Affiliation:

1. Department of Ocean and Mechanical Engineering, Florida Atlantic University, Boca Raton, FL 33431 e-mail:

2. Professor Department of Ocean and Mechanical Engineering, Florida Atlantic University, Boca Raton, FL 33431 e-mail:

Abstract

Inspired by the designs of underwater gliders, hybrid autonomous underwater vehicles (AUVs) have emerged recently, which use internal actuators instead of control surfaces to control the heading angle and depth of the vehicles. In this paper, we focus on controlling the heading angle of a REMUS AUV by using an internal moving mass. We derive a nonlinear dynamical model of the vehicle with hydrodynamic forces and coupling between the vehicle and the internal moving mass. The model is used to study the stability of the horizontal-plane motion of the vehicle and to design a linear feedback law to stabilize its heading angle around a desired direction. Simulation results demonstrate that a controlled internal moving mass is able to fulfill the purpose of heading control.

Publisher

ASME International

Subject

Applied Mathematics,Mechanical Engineering,Control and Systems Engineering,Applied Mathematics,Mechanical Engineering,Control and Systems Engineering

Reference29 articles.

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2. Saunders, A., and Nahon, M., 2002, “The Effect of Forward Vehicle Velocity on Through-Body AUV Tunnel Thruster Performance,” OCEANS'02 MTS/IEEE, Biloxi, MS, Vol. 1, pp. 250–259.10.1109/OCEANS.2002.1193280

3. Palmer, A., Hearn, G. E., and Stevenson, P., 2008, “Modelling Tunnel Thrusters for Autonomous Underwater Vehicles,” Second IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles, International Federation of Automatic Control (IFAC), Killaloe, Ireland, Vol. 2, pp. 91–96.10.3182/20080408-3-IE-4914.00017

4. Steenson, L., Phillips, A., Rogers, E., Furlong, M., and Turnock, S., 2011, “The Performance of Vertical Tunnel Thrusters on an Autonomous Underwater Vehicle Operating Near the Free Surface in Waves,” Second International Symposium on Marine Propulsors, Hamburg, Germany.http://eprints.soton.ac.uk/id/eprint/207855

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