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Design of Tracking Control System of an Autonomous Underwater Vehicle for Following Moving Objects

Taheri, Behzad | 2009

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 39524 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza
  7. Abstract:
  8. Nowadays, autonomous underwater vehicles (AUVs) are implemented to carry out various activities under water. Amongst applications of these vehicles we can mention monitoring of marine creatures, mine installation and neutralization, and many military applications. The objective of this research is designing a control algorithm for underwater vehicles such that an under actuated vehicle can reckon a moving target as a reference and whilst chasing it, vehicle can keep a fixed distance from this target. First the dynamics of underwater vehicles are modeled and in this modeling different effects due to under water motion such as drag force, buoyancy force, and also added mass are included resulting in a set of nonlinear and coupled equations of motion. The design of control algorithm comprises two steps: in the first step, a kinematics controller is designed which determines the surge and yaw rate of the vehicle in the lateral plane such that the vehicle tracks the moving target and also it can keep its distance from the target to a constant amount in the steady state. In next step a dynamic controller with the sliding mode control method is designed that exerts intransitive forces and torques to the vehicle which drives the AUV at speeds dictated by the kinematics controller. In the other word the forces and torques are computed such that the vehicle achieves its main goals, tracking the moving target and keeping distance from it. At last, with the Matlab software tracking of the moving target has been simulated with two kinds of motion. In the first case the tracking of a moving target with constant speed on a straight line has been investigated and in the second case a moving target has been tracked which moves on a sinusoidal path with variable speed. In this simulation the effect of parametric uncertainty on the performance of the controller has been investigated. The results show that the controller can overcome these uncertainties.

  9. Keywords:
  10. Robust Control ; Hydrodynamics ; Nonlinear Control ; Sliding Mode ; Autonomous Underwater Vehicle ; Moving Body ; Tracking

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