Modeling of a complex-shaped underwater vehicle

R. Yang; B. Clement; A. Mansour; H. J. Li; M. Li; N. L. Wu

doi:10.1109/ICARSC.2014.6849759

Modeling of a complex-shaped underwater vehicle

R. Yang, B. Clement, A. Mansour, H. J. Li, M. Li, N. L. Wu

Research output: Contribution to conference › Paper › peer-review

27 Citations (Scopus)

Abstract

A control-oriented modeling approach is proposed for a low-speed semi-AUV (Autonomous Underwater Vehicle) CISCREA, which has complex-shaped structures. Due to the geometry of this AUV, it is very difficult to identify its dynamic and hydrodynamic parameters. Therefore, the main objective of this paper is to find an efficient modeling approach to tune acceptable control design models. The presented solution uses cost efficient CFD (computational fluid dynamic) softwares predicting the two hydrodynamic key parameters: The added mass matrix and the damping matrix. A complete model is built for CISCREA from CFD and verified through experimental results. The results indicate that the proposed computational approach seems to be desirable for the robust control scheme of many complex-shaped AUVs. Finally, Numerical and experimental results are compared.

Original language	English
Pages	36-41
Number of pages	6
DOIs	https://doi.org/10.1109/ICARSC.2014.6849759
Publication status	Published - 10 Jul 2014
Externally published	Yes
Event	2014 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2014 - Espinho, Portugal Duration: 14 May 2014 → 15 May 2014

Conference

Conference	2014 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2014
Country/Territory	Portugal
City	Espinho
Period	14/05/14 → 15/05/14

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abstract = "A control-oriented modeling approach is proposed for a low-speed semi-AUV (Autonomous Underwater Vehicle) CISCREA, which has complex-shaped structures. Due to the geometry of this AUV, it is very difficult to identify its dynamic and hydrodynamic parameters. Therefore, the main objective of this paper is to find an efficient modeling approach to tune acceptable control design models. The presented solution uses cost efficient CFD (computational fluid dynamic) softwares predicting the two hydrodynamic key parameters: The added mass matrix and the damping matrix. A complete model is built for CISCREA from CFD and verified through experimental results. The results indicate that the proposed computational approach seems to be desirable for the robust control scheme of many complex-shaped AUVs. Finally, Numerical and experimental results are compared.",

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AU - Yang, R.

AU - Clement, B.

AU - Mansour, A.

AU - Li, H. J.

AU - Li, M.

AU - Wu, N. L.

PY - 2014/7/10

Y1 - 2014/7/10

N2 - A control-oriented modeling approach is proposed for a low-speed semi-AUV (Autonomous Underwater Vehicle) CISCREA, which has complex-shaped structures. Due to the geometry of this AUV, it is very difficult to identify its dynamic and hydrodynamic parameters. Therefore, the main objective of this paper is to find an efficient modeling approach to tune acceptable control design models. The presented solution uses cost efficient CFD (computational fluid dynamic) softwares predicting the two hydrodynamic key parameters: The added mass matrix and the damping matrix. A complete model is built for CISCREA from CFD and verified through experimental results. The results indicate that the proposed computational approach seems to be desirable for the robust control scheme of many complex-shaped AUVs. Finally, Numerical and experimental results are compared.

AB - A control-oriented modeling approach is proposed for a low-speed semi-AUV (Autonomous Underwater Vehicle) CISCREA, which has complex-shaped structures. Due to the geometry of this AUV, it is very difficult to identify its dynamic and hydrodynamic parameters. Therefore, the main objective of this paper is to find an efficient modeling approach to tune acceptable control design models. The presented solution uses cost efficient CFD (computational fluid dynamic) softwares predicting the two hydrodynamic key parameters: The added mass matrix and the damping matrix. A complete model is built for CISCREA from CFD and verified through experimental results. The results indicate that the proposed computational approach seems to be desirable for the robust control scheme of many complex-shaped AUVs. Finally, Numerical and experimental results are compared.

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T2 - 2014 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2014

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Modeling of a complex-shaped underwater vehicle

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