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CLC number: TP242

On-line Access: 2018-10-05

Received: 2017-06-13

Revision Accepted: 2018-01-10

Crosschecked: 2018-08-15

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Citations:  Bibtex RefMan EndNote GB/T7714


Bo Li


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Frontiers of Information Technology & Electronic Engineering  2018 Vol.19 No.8 P.1024-1041


Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation

Author(s):  Bo Li, Yuan-xin Xu, Shuang-shuang Fan, Wen Xu

Affiliation(s):  College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China

Corresponding email(s):   xuyx@zju.edu.cn

Key Words:  Autonomous underwater vehicle (AUV), Docking systems, Current estimator, Current compensation, Docking control

Bo Li, Yuan-xin Xu, Shuang-shuang Fan, Wen Xu. Underwater docking of an under-actuated autonomous underwater vehicle: system design and control implementation[J]. Frontiers of Information Technology & Electronic Engineering, 2018, 19(8): 1024-1041.

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A1 - Bo Li
A1 - Yuan-xin Xu
A1 - Shuang-shuang Fan
A1 - Wen Xu
J0 - Frontiers of Information Technology & Electronic Engineering
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DOI - 10.1631/FITEE.1700382

Underwater docking greatly facilitates and extends operation of an autonomous underwater vehicle (AUV) without the support of a surface vessel. Robust and accurate control is critically important for docking an AUV into a small underwater funnel- type dock station. In this paper, a docking system with an under-actuated AUV is presented, with special attention paid to control algorithm design and implementation. For an under-actuated AUV, the cross-track error can be controlled only via vehicle heading modulation, so both the cross-track error and heading error have to be constrained to achieve successful docking operations, while the control problem can be even more complicated in practical scenarios with the presence of unknown ocean currents. To cope with the above issues, a control scheme of a three-hierarchy structure of control loops is developed, which has been embedded with online current estimator/compensator and effective control parameter tuning. The current estimator can evaluate both horizontal and vertical current velocity components, based only on the measurement of AUV’s velocity relative to the ground; in contrast, most existing methods use the measurements of both AUV’s velocities respectively relative to the ground and the water column. In addition to numerical simulation, the proposed docking scheme is fully implemented in a prototype AUV using MOOS-IvP architecture. Simulation results show that the current estimator/compensator works well even in the presence of lateral current disturbance. Finally, a series of sea trials are conducted to validate the current estimator/compensator and the whole docking system. The sea trial results show that our control methods can drive the AUV into the dock station effectively and robustly.




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