Hi, recently I have been busy with dealing with the control of underwater vehicle, while there are so many methods like slide mode contol, iterative learning control, model predicted control, and adaptive control. And I noticed an novel L1 control applied to AC-ROV which operates very well. In my case, there are only four thruesters(two vertical, two horizontal) mounted on vehilce the model of wich is obtianed using CFD simulation. I am wondering which method will be much suitable and may work well in practice. Besides, if L1 control is implemented on the vehicle, is it okay. Thank you.
Dear Nailong,
We have been working in this topic. The controller choice depends on the application specificities and the expected performance. Have a look on the attached paper in which we have used feedback linearization control.
Regards,
Mohamed
@Mohamed Benbouzid
Hi, Thank you for answering this question. The expected controller of my vehicle is to track trajectory, and acquire images from camera. Then the visual slam alike algorithm will be implemented. Thank you.
Underwater vehicle system model generally contains uncertainty depending on operating points and conditions. Specially an image acquisition type sensor further adds on to it. If it is possible to characterise the uncertainty roughly, you may go for robust controllers like Higher Order Sliding Mode Controller (Twisting or Super twisting type). There are standard examples in many books as attached below:
Hi,Prasanta
Thank you for guiding me about sliding control. The measurement system of underwater vehicle generally contains internal sensors like imu and external sensor like sonar or camera. The vehicle is navigating in the water, thus it will operate well if sensors can perceive the environment better. The characteristic of uncertainty comes from sensor uncertainty. Will HOSM controller work?
Hi Nailong
Heer is three important references that can help you in your job search
1)HAL Id: hal-00746494
https://hal.archives-ouvertes.fr/hal-00746494
2) Divine Maalouf, Ahmed Chemori, Vincent Creuze
A new extension of the L1 adaptive controller to drastically reduce the tracking time lags. 9th IFAC Symposium on Nonlinear Control Systems Toulouse, France, September 4-6, 2013
3) Real-Time Experimental Comparison of Two Depth Control Schemes for Underwater Vehicle. International Journal of Advanced Robotic Systems
In first paper there is a modified version of the AC-ROV underwater vehicle. Various experimental scenarios are presented to illustrate the ability of the L1adaptive law not only to successfully control pitch and depth (even with strong modeling uncertainties), but also to be efficient towards disturbances like waves or buoyancy changes.
In the second the authors compared to other adaptive schemes due to the presence of a filter in the control architecture. To achieve a better tracking, we propose extending the architecture of the L1 controller by augmenting it with a control input that could take the form of a nonlinear proportional or a proportional integral term. The extended scheme is validated through simulations via an illustrative example as well as experimental results performed on an underwater vehicle.
In last one there is an experimental comparison between the proportional integral derivative (PID) control law and the adaptive nonlinear state feedback control, both applied on the AC-ROV underwater vehicle.
@ Mohamed-Mourad Lafifi
Hi, sorry for replying so late. I have read the second article and thanks a lot for your valuable answers.
Hi, i am very happy that you have found what you are looking for.
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