Control design for positioning of underwater vehicles with control allocation

Perez, Tristan & Donaire, Alejandro (2010) Control design for positioning of underwater vehicles with control allocation. In Proceedngs of the International Maritime Conference 2010, Pacific 2010 International Maritime Conference Managers, Sydney, NSW, pp. 405-418.

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In this paper, we address the control design problem of positioning of over-actuated underwater vehicles. The proposed design is based on a control architecture with combined position and velocity loops and a control tuning method based on the decoupled models. We derive analytical tuning rules based on requirements of closed-loop stability, positioning performance, and the vehicle velocity dynamic characteristics. The vehicle modelling is considered from force to motion with appropriate simplifications related to low-speed manoeuvring hydrodynamics and vehicle symmetry. The control design is considered together with a control allocation mapping. This approach makes the control tuning independent of the characteristics of the force actuators and provides the basis for control reconfiguration in the presence of actuator failure. We propose an anti-wind-up implementation of the controller, which ensures that the constraints related to actuation capacity are not violated. This approach simplifies the control allocation problem since the actuator constraints are mapped into generalised force constraints.

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ID Code: 71757
Item Type: Conference Paper
Refereed: Yes
Keywords: Underwater vehicles, Actuators, Closed loop stability, Control design, Submersibles
ISBN: 9781617380167
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright© (2010) by The Royal Institution of Naval Architects
Deposited On: 19 May 2014 01:48
Last Modified: 12 Jun 2014 02:42

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