Model simplification for AUV pitch-axis control design

Abstract Although the use of low-order equivalent models is common and extensively studied for control of aircraft systems, similar analysis has not been performed for submersible systems. Toward an improved understanding of the utility of low-order equivalent models for submersible systems, we examine control design for pitch-axis motion of an autonomous underwater vehicle (AUV). Derived from first principles, the pitch-axis motion of a streamlined AUV is described by third-order dynamics. However, second-order approximate models are common for system identification and control design. In this work, we provide theoretical justification for both the use of and limitations of a second-order model, and we verify our results in practice via a series of case studies. We conclude that a second-order pitch-axis model should often be sufficient for system identification and control design.

[1]  A.M. Pascoal,et al.  Investigation of Normal Force and Moment Coefficients for an AUV at Nonlinear Angle of Attack and Sideslip Range , 2008, IEEE Journal of Oceanic Engineering.

[2]  A. J. Healey,et al.  Adaptive Identification and Control of an Autonomous Underwater Vehicle , 1989, Proceedings of the 6th International Symposium on Unmanned Untethered Submersible Technology,.

[3]  P. Eykhoff.  System Identification Parameter and State Estimation , 1974 .

[4]  Jesse Stuart Geisbert,et al.  Hydrodynamic Modeling for Autonomous Underwater Vehicles Using Computational and Semi-Empirical Methods , 2007 .

[5]  Kennard P. Watson,et al.  Application of a panel method to hydrodynamics of underwater vehicles , 1997 .

[6]  Yuh-Lin Hwang,et al.  Hydrodynamic modeling of LMRS unmanned underwater vehicle and tow tank test validation , 2003, Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492).

[7]  J. Topping.  Dynamics of a System of Rigid Bodies Part I , 1962 .

[8]  Morton Gertler,et al.  STANDARD EQUATIONS OF MOTION FOR SUBMARINE SIMULATION , 1967 .

[9]  D.A. Smallwood,et al.  Preliminary experiments in the adaptive identification of dynamically positioned underwater robotic vehicles , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[10]  A. J. Healey,et al.  Adaptive sliding mode control of autonomous underwater vehicles in the dive plane , 1990 .

[11]  D.J. Stilwell,et al.  Identification of a simplified AUV pitch axis model for control design: Theory and experiments , 2007, OCEANS 2007.

[12]  Athanasios C. Antoulas,et al.  Approximation of Large-Scale Dynamical Systems , 2005, Advances in Design and Control.

[13]  S. M. Smith,et al.  The application of a modular AUV to coastal oceanography: case study on the Ocean Explorer , 1995, 'Challenges of Our Changing Global Environment'. Conference Proceedings. OCEANS '95 MTS/IEEE.

[14]  Naomi Ehrich Leonard,et al.  Underwater Glider System Study , 2003 .

[15]  Bong Huan Jun,et al.  Application of a robust adaptive controller to autonomous diving control of an AUV , 2004, 30th Annual Conference of IEEE Industrial Electronics Society, 2004. IECON 2004.

[16]  John H. Blakelock,et al.  Automatic control of aircraft and missiles , 1965 .

[17]  Lennart Ljung,et al.  System Identification: Theory for the User , 1987 .

[18]  Mukund Narasimhan,et al.  Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins , 2006 .

[19]  T. Teichmann,et al.  Dynamics of Flight: Stability and Control , 1959 .

[20]  N.A. Cruz,et al.  The MARES AUV, a Modular Autonomous Robot for Environment Sampling , 2008, OCEANS 2008.

[21]  C. Chryssostomidis,et al.  System identification of open-loop maneuvers leads to improved AUV flight performance , 2006, IEEE Journal of Oceanic Engineering.

[22]  Carlos Silvestre,et al.  Control of an AUV in the vertical and horizontal planes: system design and tests at sea , 1997 .

[23]  Jeffrey C. Lagarias,et al.  Convergence Properties of the Nelder-Mead Simplex Method in Low Dimensions , 1998, SIAM J. Optim..

[24]  F. Azarsina,et al.  Effects of Hull Length on the Hydrodynamic Loads on a Slender Underwater Vehicle during Manoeuvres , 2006, OCEANS 2006.

[25]  Kyu-Yeul Lee,et al.  Depth and heading control for autonomous underwater vehicle using estimated hydrodynamic coefficients , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[26]  David G. Mitchell,et al.  Low-Order Approaches to High-Order Systems: Problems and Promises , 1982 .

[27]  K. Glover,et al.  Identifiability of linear and nonlinear dynamical systems , 1976 .

[28]  Frank L. Lewis,et al.  Aircraft Control and Simulation , 1992 .

[29]  M. Moline,et al.  Remote Environmental Monitoring Units: An Autonomous Vehicle for Characterizing Coastal Environments* , 2005 .

[30]  Mukund Narasimhan,et al.  Optimal Yaw Regulation and Trajectory Control of Biorobotic AUV Using Mechanical Fins Based on CFD Parameterization , 2006 .

[31]  Duane T. McRuer,et al.  Aircraft Dynamics and Automatic Control , 1973 .

[32]  D.J. Stilwell,et al.  Development of a Dynamic Model of a Small High-Speed Autonomous Underwater Vehicle , 2006, OCEANS 2006.

[33]  C. Vuilmet.  High order sliding mode control applied to a heavyweight torpedo , 2005, Proceedings of 2005 IEEE Conference on Control Applications, 2005. CCA 2005..

[34]  D. E. Humphreys.  Correlation and validation of a CFD based hydrodynamic and dynamic model for a towed undersea vehicle , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[35]  Carlos Silvestre,et al.  An integrated approach to the design and analysis of navigation, guidance and control systems for AUVs , 1994, Proceedings of IEEE Symposium on Autonomous Underwater Vehicle Technology (AUV'94).

[36]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .