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Cross-coupling effect and motion control of an autonomous underwater vehicle with internal actuators

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Abstract

Hybrid autonomous underwater vehicles (AUVs) use internal actuators, e.g., tunnel thruster, moving mass, and ballast chamber, for yaw and pitch steering. Unlike control surfaces, internal actuators perform independently of relative flows around AUVs, thus suitable for missions which require excellent low-speed maneuverability. This research focuses on an investigation into the control design of an REMUS AUV using internal actuators to steer its heading direction. It has been shown that an internal moving mass together with a tunnel thruster is capable of providing actuations to serve the purpose. However, our analysis indicates that a coupling between roll and pitch motion causes the internal actuators to oscillate if depth-plane motion is neglected when deriving control laws for the internal actuators. We present a novel control strategy by taking advantage of the cross-coupling effect when designing the heading autopilot system with internal actuators. The effectiveness and robustness of the proposed design are validated by simulation results.

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Acknowledgements

This work is supported by the China Postdoctoral Science Foundation, Grant No. 2017M621479.

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Authors and Affiliations

  1. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Bo Li, Lei Wang & Xuefeng Wang

  2. Collaborative Innovation Center for Advanced Ship and Deep-Sea Exploration, Shanghai, 200240, China

    Bo Li, Lei Wang & Xuefeng Wang

  3. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai, 200240, China

    Bo Li, Lei Wang & Xuefeng Wang

  4. Department of Ocean and Mechanical Engineering, Florida Atlantic University, Boca Raton, FL, 33431, USA

    Tsung-Chow Su

Authors
  1. Bo Li
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  2. Lei Wang
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  3. Xuefeng Wang
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  4. Tsung-Chow Su
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Correspondence to Lei Wang.

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Li, B., Wang, L., Wang, X. et al. Cross-coupling effect and motion control of an autonomous underwater vehicle with internal actuators. J Mar Sci Technol 24, 98–110 (2019). https://doi.org/10.1007/s00773-018-0534-6

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  • DOI: https://doi.org/10.1007/s00773-018-0534-6

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