7 research outputs found
Reduced-order observer design using a Lagrangian model
This paper considers the problem of reduced-order observer design. A design procedure is proposed in which the impulse response of the observer is treated as the solution of a general optimization problem. Using principles from variational analysis, the corresponding Lagrangian system is reduced so as to yield observers of reduced-order. Using this approach, two different observer design problems are discussed and compared on an industrial example
The State-of-Art of Underwater Vehicles - Theories and Applications
An autonomous underwater vehicle (AUV) is an underwater system that contains its own
power and is controlled by an onboard computer. Although many names are given to these
vehicles, such as remotely operated vehicles (ROVs), unmanned underwater vehicles
(UUVs), submersible devices, or remote controlled submarines, to name just a few, the
fundamental task for these devices is fairly well defined: The vehicle is able to follow a
predefined trajectory.
AUVs offer many advantages for performing difficult tasks submerged in water. The main
advantage of an AUV is that is does not need a human operator. Therefore it is less
expensive than a human operated vehicle and is capable of doing operations that are too
dangerous for a person. They operate in conditions and perform task that humans are not
able to do efficiently, or at all (Smallwood & Whitcomb, 2004; Horgan & Toal, 2006; Caccia,
2006)
Modeling and simulated control of an under actuated autonomous underwater vehicle
The AUV (autonomous underwater vehicle) of the University of Canterbury targets to discover any foreign organisms residing on the sea chests of ships, which cause a risk for the domestic biodiversity, and removes them. With the design of the AUV finished, the primary goal of this paper is to design control software that stabilizes the vehicle and minimizes the error in the desired trajectory. The dynamical model with implemented assumptions ultimately leads to a decoupled system of non-linear equations in three directions: surge, heave and yaw. For this system, experiments are designed (but not yet successfully accomplished) to identify the system parameters. With respect to control, a feedback linearization is firstly applied to a 1D case, which results in a satisfactory PIDcontroller, taking into account parameter perturbation and noise contamination. Finally, the under actuated problem in the 2D situation is evaluated, for which a path planning method and a state feedback control method is derived
Modeling and simulated control of an under actuated autonomous underwater vehicle
The AUV (autonomous underwater vehicle) of the University of Canterbury targets to discover any foreign organisms residing on the sea chests of ships, which cause a risk for the domestic biodiversity, and removes them. With the design of the AUV finished, the primary goal of this paper is to design control software that stabilizes the vehicle and minimizes the error in the desired trajectory. The dynamical model with implemented assumptions ultimately leads to a decoupled system of non-linear equations in three directions: surge, heave and yaw. For this system, experiments are designed (but not yet successfully accomplished) to identify the system parameters. With respect to control, a feedback linearization is firstly applied to a 1D case, which results in a satisfactory PIDcontroller, taking into account parameter perturbation and noise contamination. Finally, the under actuated problem in the 2D situation is evaluated, for which a path planning method and a state feedback control method is derived