Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification

Tanakitkorn, Kantapon; Wilson, Philip; Turnock, Stephen; Phillips, Alex. 2017 Depth control for an over-actuated, hover-capable autonomous underwater vehicle with experimental verification. Mechatronics, 41. 67-81. 10.1016/j.mechatronics.2016.11.006

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© 2016 Elsevier B.V. This is the author’s version of a work that was accepted for publication in Mechatronics. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was/will be published in Mechatronics
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Abstract/Summary

A PI-D based control system is developed for over-actuated, hover-capable AUVs which enables a smooth transition from hover-style to flight-style operation with system stability and convergence proven using a Lyapunov approach. The performance of the controller is demonstrated by simulation and is verified through experiments. The approach is able to operate over a range of vehicle ballasting configurations, and to imposed external disturbances. The proposed system is computationally inexpensive and does not require a detailed hydrodynamic model to implement. By monitoring the energy consumption on board, the cost of maintaining depth at a range of forward speeds with different buoyancy conditions can be quantified, and their impact on the cost of transport is highlighted for future optimisation of energy consumption.

Item Type:	Publication - Article
Digital Object Identifier (DOI):	10.1016/j.mechatronics.2016.11.006
ISSN:	0957-4158 (print)
Date made live:	01 Dec 2016 10:12 +0 (UTC)
URI:	https://nora.nerc.ac.uk/id/eprint/515292

Item Type:

Publication - Article

Digital Object Identifier (DOI):

10.1016/j.mechatronics.2016.11.006

ISSN:

0957-4158 (print)

Date made live:

01 Dec 2016 10:12 +0 (UTC)

URI:

https://nora.nerc.ac.uk/id/eprint/515292