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A System Engineering Approach to Model and Implement Planar Trajectory-Tracking Controllers for Autonomous Underwater Vehicles

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Advances in Engineering Research and Application (ICERA 2022)

Part of the book series: Lecture Notes in Networks and Systems ((LNNS,volume 602))

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Abstract

Following the Model-Driven Architecture (MDA) approach, we have modeled and implemented planar trajectory planning and tracking controllers for Autonomous Underwater Vehicles (AUVs). This model covers all steps including the requirements management, analysis, design, and implementation to conveniently realize controllers for most standard AUV platforms. It also allows the designed elements to be customizable and re-usable in the development of new control applications for various AUVs. The paper describes step-by-step the development lifecycle of planar trajectory-tracking controllers for AUVs. Based on this proposed model, a horizontal planar trajectory-tracking controller of a low-cost turtle-shaped AUV was developed and taken on trial trips with good feasibility.

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Acknowledgment

This research was supported by the Vietnam National Foundation for Science and Technology Development (NAFOSTED) under grant number 107.03–2019.302. The authors would like to warmly express their thanks for the support.

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Authors and Affiliations

  1. Hanoi University of Science and Technology, Hanoi, Vietnam

    Ngo Van Hien, Hoang Cong Liem & Ngo Van He

Authors
  1. Ngo Van Hien
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  2. Hoang Cong Liem
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  3. Ngo Van He
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Corresponding author

Correspondence to Ngo Van Hien .

Editor information

Editors and Affiliations

  1. Faculty of Electronic Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Duy Cuong Nguyen

  2. Faculty of Mechanical Engineering, Thai Nguyen University of Technology, Thai Nguyen, Vietnam

    Ngoc Pi Vu

  3. Vietnam Association for Science Editing, Hanoi University of Science and Technology, Hanoi, Vietnam

    Banh Tien Long

  4. Institute for Automation and Systems Engineering, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Horst Puta

  5. Department of Computer Science and Automation, Ilmenau University of Technology (IUT), Ilmenau, Germany

    Kai-Uwe Sattler

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Van Hien, N., Liem, H.C., Van He, N. (2023). A System Engineering Approach to Model and Implement Planar Trajectory-Tracking Controllers for Autonomous Underwater Vehicles. In: Nguyen, D.C., Vu, N.P., Long, B.T., Puta, H., Sattler, KU. (eds) Advances in Engineering Research and Application. ICERA 2022. Lecture Notes in Networks and Systems, vol 602. Springer, Cham. https://doi.org/10.1007/978-3-031-22200-9_15

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  • DOI: https://doi.org/10.1007/978-3-031-22200-9_15

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-22199-6

  • Online ISBN: 978-3-031-22200-9

  • eBook Packages: EngineeringEngineering (R0)

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