Abstract
In This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an onboard PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and H8 controllers are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in towing tank for depth keeping and heading angle tracking.
| Original language | English |
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| Pages | 291-295 |
| Number of pages | 5 |
| Publication status | Published - 19 Sep 2011 |
| Event | Annual International Offshore and Polar Engineering Conference - Duration: 19 Jun 2011 → … |
Conference
| Conference | Annual International Offshore and Polar Engineering Conference |
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| Period | 19/06/11 → … |
Keywords
- Controller design
- Manta-type unmanned underwater vehicle
- Mathematical model
- Planar Motion Mechanism