Abstract: Steering control for an autonomous underwater glider (AUG) is very challenging due to its changing dynamic characteristics such as payload and shape. A good choice to solve this problem is online system identification via in-field trials to capture current dynamic characteristics for control law reconfiguration. Hence, an online polynomial estimator is designed to update the yaw dynamic model of the AUG, and an adaptive model predictive control (MPC) controller is used to calculate the optimal control command based on updated estimated parameters. The MPC controller uses a quadratic program (QP) to compute the optimal control command based on a user-defined cost function. The cost function has two terms, focusing on output reference tracking and move suppression of input, respectively. Move-suppression performance can, at some level, represent energy-saving performance of the MPC controller. Users can balance these two competitive control performances by tuning weights. We have compared the control performance using the second-order polynomial model to that using the fifth-order polynomial model, and found that the former cannot capture the main characteristics of yaw dynamics and may result in vibration during the flight. Both processor-in-loop (PIL) simulations and in-lake tests are presented to validate our steering control performance.

水下滑翔机航向控制

[1]Alvarez, A., Caffaz, A., Caiti, A., et al., 2009. Fòlaga: a low-cost autonomous underwater vehicle combining glider and AUV capabilities. Ocean Eng., 36(1):24-38.

[2]Caccia, M., Indiveri, G., Veruggio, G., 2000. Modeling and identification of open-frame variable configuration unmanned underwater vehicles. IEEE J. Ocean. Eng., 25(2): 227-240.

[3]Chen, H.T., 1981. Submarine Maneuverability. National Defense Industry Press, Beijing (in Chinese).

[4]Eng, Y.H., Teo, K.M., Chitre, M., et al., 2016. Online system identification of an autonomous underwater vehicle via in-field experiments. IEEE J. Ocean. Eng., 41(1):5-17.

[5]

[6]Eriksen, C.C., Osse, T.J., Light, R.D., et al., 2001. Seaglider: a long-range autonomous underwater vehicle for oceanographic research. IEEE J. Ocean. Eng., 26(4):424-436.

[7]

[8]Graver, J.G., 2005. Underwater Gliders: Dynamics, Control and Design. PhD Thesis, Princeton University, New Jersey, USA.

[9]Isa, K., Arshad, M.R., Ishak, S., 2014. A hybrid-driven underwater glider model, hydrodynamics estimation, and an analysis of the motion control. Ocean Eng., 81:111-129.

[10]

[11]Leonard, N.E., Graver, J.G., 2001. Model-based feedback control of autonomous underwater gliders. IEEE J. Ocean. Eng., 26(4):633-645.

[12]

[13]Li, J., Lu, C.J., Huang, X., 2010. Calculation of added mass of a vehicle running with cavity. J. Hydrodynam. Ser. B, 22(3):312-318.

[14]Li, T.S., 1999. Torpedo Maneuverability. National Defense Industry Press, Beijing (in Chinese).

[15]Liu, Y., Shen, Q., Ma, D.L., et al., 2016. Theoretical and experimental study of anti-helical motion for underwater glider. Appl. Ocean Res., 60:121-140.

[16]

[17]Mišković, N., Vukić, Z., Bibuli, M., et al., 2011. Fast in-field identification of unmanned marine vehicles. J. Field Robot., 28(1):101-120.

[18]

[19]Phoemsapthawee, S., Le Boulluec, M., Laurens, J.M., et al., 2011. Numerical study on hydrodynamic behavior of an underwater glider. Proc. 30th Int. Conf. on Ocean, Offshore and Arctic Engineering, p.521-526.

[20]

[21]Phoemsapthawee, S., Le Boulluec, M., Laurens, J.M., et al., 2013. A potential flow based flight simulator for an underwater glider. J. Mar. Sci. Appl., 12(1):112-121.

[22]

[23]Rentschler, M.E., Hover, F.S., Chryssostomidis, C., 2006. System identification of open-loop maneuvers leads to improved AUV flight performance. IEEE J. Ocean. Eng., 31(1):200-208.

[24]Rudnick, D.L., Davis, R.E., Eriksen, C.C., et al., 2004. Underwater gliders for ocean research. Mar. Technol. Soc. J., 38(2):73-84.

[25]Schmid, C., Biegler, L.T., 1994. Quadratic programming methods for reduced Hessian SQP. Comput. Chem. Eng., 18(9):817-832.

[26]Shi, S.D., 1995. Submarine Maneuverability. National Defense Industry Press, Beijing (in Chinese).

[27]Tiano, A., Sutton, R., Lozowicki, A., et al., 2007. Observer Kalman filter identification of an autonomous underwater vehicle. Contr. Eng. Pract., 15(6):727-739.

[28]

[29]Wang, S.X., Sun, X.J., Wang, Y.H., et al., 2011. Dynamic modeling and motion simulation for a winged hybrid-driven underwater glider. China Ocean Eng., 25(1):97-112.

[30]Xiao, Z.R., 2014. Calculation of submarine’s inertial hydrodynamics coefficient. J. Nav. Univ. Eng., 26(5):44-47 (in Chinese).

[31]Zhang, F.T., Tan, X.B., 2015. Passivity-based stabilization of underwater gliders with a control surface. J. Dynam. Syst. Meas. Contr., 137(6):1-13.

[32]

[33]Zhang, F.T., Zhang, F.M., Tan, X.B., 2014. Tail-enabled spiraling maneuver for gliding robotic fish. J. Dynam. Syst. Meas. Contr., 136(4):1-8.

[34]