Original scientific paper
https://doi.org/10.21278/brod74102
Dynamic modeling and optimal control of a positive buoyancy diving autonomous vehicle
Zhiguang Wang
orcid.org/0000-0003-3830-5742
; School of Oceanography; School of Naval Architecture Ocean & Civil Engineering, Shanghai Jiao Tong University
Zhaoyu Wei
; School of Oceanography, Shanghai Jiao Tong University
Caoyang Yu
; School of Oceanography, Shanghai Jiao Tong University
Junjun Cao
; School of Oceanography, Shanghai Jiao Tong University
Baoheng Yao
; School of Oceanography, Shanghai Jiao Tong University
Lian Lian
; School of Oceanography, Shanghai Jiao Tong University
Abstract
The positive buoyancy diving autonomous vehicle combines the features of an Unmanned Surface Vessel (USV) and an Autonomous Underwater Vehicle (AUV) for marine measurement and monitoring. It can also be used to study reasonable and efficient positive buoyancy diving techniques for underwater robots. In order to study the optimization of low power consumption and high efficiency cruise motion of the positive buoyancy diving vehicle, its dynamic modeling has been established. The optimal cruising speed for low energy consumption of the positive buoyancy diving vehicle is determined by numerical simulation. The Linear Quadratic Regulator (LQR) controller is designed to optimize the dynamic error and the actuator energy consumption of the vehicle in order to achieve the optimal fixed depth tracking control of the positive buoyancy diving vehicle. The results demonstrate that the LQR controller has better performance than PID, and the system adjustment time of the LQR controller is reduced by approximately 56% relative to PID. The motion optimization control method proposed can improve the endurance of the positive buoyancy diving vehicle, and has a certain application value.
Keywords
Positive Buoyancy Diving Vehicle; Dynamic Modeling; Underwater Motion Control; LQR Controller
Hrčak ID:
288294
URI
Publication date:
1.1.2023.
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