The problem of designing, implementing and testing a general-purpose guidance and control system for unmanned underwater for scientific applications is discussed. A three-level hierarchical architecture is proposed in order to uncouple the execution of user-defined motion-task functions with respect to the operating environment (guidance), from linear and angular control and mapping of the required control actions onto the actuation system. The introduction of PI-type task functions enables conventional Lyapunov-based guidance system to counteract the effects both of unmodelled, i.e. unmeasured kinematic interactions between the vehicle and the environment, and of bias in velocity measurements. The vehicle dynamics are managed by conventional gain scheduling regulators performing velocity control, while and advanced actuator model, which considers propeller-hull interactions, improves the precision of the thrust to propeller rate mapping. Preliminary test, carried out in a high-diving pool with an over actuated prototype remotely operated vehicle proved the system's functionally and showed high performances in terms of its precision in accomplishing near bottom slow motion task, e.g. altitude and hovering control and trajectory tracking even when the mapping of the required control actions onto the actuation system is reconfigured to face any type of thruster fault.
Guidance and control of a reconfigurable unmanned underwater vehicle
Fahrzeuglenkung und Regelung eines rekonfigurierbaren, fahrerlosen Unterwasserfahrzeuges
Control Engineering Practice ; 8 , 1 ; 21-37
2000
17 Seiten, 16 Bilder, 39 Quellen
Article (Journal)
English
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