CLC number: TP242
On-line Access: 2024-08-27
Received: 2023-10-17
Revision Accepted: 2024-05-08
Crosschecked: 2018-08-15
Cited: 0
Clicked: 8027
Bo Li, Yuan-xin Xu, Shuang-shuang Fan, Wen Xu. Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(8): 1024-1041.
@article{title="Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation",
author="Bo Li, Yuan-xin Xu, Shuang-shuang Fan, Wen Xu",
journal="Frontiers of Information Technology & Electronic Engineering",
volume="19",
number="8",
pages="1024-1041",
year="2018",
publisher="Zhejiang University Press & Springer",
doi="10.1631/FITEE.1700382"
}
%0 Journal Article
%T Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation
%A Bo Li
%A Yuan-xin Xu
%A Shuang-shuang Fan
%A Wen Xu
%J Frontiers of Information Technology & Electronic Engineering
%V 19
%N 8
%P 1024-1041
%@ 2095-9184
%D 2018
%I Zhejiang University Press & Springer
%DOI 10.1631/FITEE.1700382
TY - JOUR
T1 - Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation
A1 - Bo Li
A1 - Yuan-xin Xu
A1 - Shuang-shuang Fan
A1 - Wen Xu
J0 - Frontiers of Information Technology & Electronic Engineering
VL - 19
IS - 8
SP - 1024
EP - 1041
%@ 2095-9184
Y1 - 2018
PB - Zhejiang University Press & Springer
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DOI - 10.1631/FITEE.1700382
Abstract: Underwater docking greatly facilitates and extends operation of an autonomous underwater vehicle (AUV) without the support of a surface vessel. Robust and accurate control is critically important for docking an AUV into a small underwater funnel- type dock station. In this paper, a docking system with an under-actuated AUV is presented, with special attention paid to control algorithm design and implementation. For an under-actuated AUV, the cross-track error can be controlled only via vehicle heading modulation, so both the cross-track error and heading error have to be constrained to achieve successful docking operations, while the control problem can be even more complicated in practical scenarios with the presence of unknown ocean currents. To cope with the above issues, a control scheme of a three-hierarchy structure of control loops is developed, which has been embedded with online current estimator/compensator and effective control parameter tuning. The current estimator can evaluate both horizontal and vertical current velocity components, based only on the measurement of AUV’s velocity relative to the ground; in contrast, most existing methods use the measurements of both AUV’s velocities respectively relative to the ground and the water column. In addition to numerical simulation, the proposed docking scheme is fully implemented in a prototype AUV using MOOS-IvP architecture. Simulation results show that the current estimator/compensator works well even in the presence of lateral current disturbance. Finally, a series of sea trials are conducted to validate the current estimator/compensator and the whole docking system. The sea trial results show that our control methods can drive the AUV into the dock station effectively and robustly.
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