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Full-Text Articles in Mechanical Engineering
Fuzzy-Sliding-Mode-Based Robust Tracking Control Of Autonomous Underwater Vehicles, Qiaomei Sun, Jinguo Chen, Wan Yu, Huashan Su
Fuzzy-Sliding-Mode-Based Robust Tracking Control Of Autonomous Underwater Vehicles, Qiaomei Sun, Jinguo Chen, Wan Yu, Huashan Su
Journal of Marine Science and Technology
Control of an autonomous underwater vehicle (AUV) is difficult due to its nonlinear and coupled characteristics, parameter uncertainties, and unknown disturbances. This paper presents a motion control system based on an adaptive fuzzy sliding mode control (FSMC) method for trajectory tracking of an AUV. The proposed FSMC method is primarily based on a combination of sliding mode control (SMC) strategy with an adaptive fuzzy algorithm to estimate external disturbances and weaken the chattering effect. A waypoint guidance law based on a line-of-sight (LOS) algorithm is applied to the guidance system. Simulation studies confirm a good performance of the proposed controller. …
An Underwater Vehicle Navigation System Using Acoustic And Inertial Sensors, Khalid M. Alzahrani
An Underwater Vehicle Navigation System Using Acoustic And Inertial Sensors, Khalid M. Alzahrani
Doctoral Dissertations and Master's Theses
Unmanned Underwater Vehicles (UUVs) have become an essential tool for different underwater tasks. Compared with other unmanned systems, the navigation and localization for UUVs are particularly challenging due to the unavailability of Global Positioning System (GPS) signals underwater and the complexity of the unstable environment. Alternative methods such as acoustic positioning systems, Inertial Navigation Systems (INS), and the geophysical navigation approach are used for UUV navigation. Acoustic positioning systems utilize the characteristics of acoustic signals that have a lower absorption rate and a more extended propagation distance than electromagnetic signals underwater. The significant disadvantage of the INS is the “drift,” …
Advances In In-Situ Calibration Of Attitude And Doppler Sensors For Precision Oceanographic Submersible Navigation, James C. Kinsey
Advances In In-Situ Calibration Of Attitude And Doppler Sensors For Precision Oceanographic Submersible Navigation, James C. Kinsey
Link Foundation Ocean Engineering and Instrumentation Fellowship Reports
This paper reviews the development and experimental evaluation of three techniques for estimating the alignment matrix of Doppler sonars, which are commonly used for precision navigation of oceanographic submersibles, employing sensors commonly employed aboard these vehicles. Most previously reported methods addressed the problem of single degree of freedom alignment using bottom-lock Doppler sonar data and global positioning system (GPS) navigation data. This paper reviews three techniques for three degree of freedom calibration of attitude and Doppler sonar sensors, using sensor data available to vehicles at full ocean depth. The first technique provides a general linear least-square estimate of the alignment …