A wall-following controller design method for underactuated AUVs: an adaptive internal model approach
In: IFAC-PapersOnLine. Elsevier: Germany. ISSN 2405-8963, more
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Document type: Conference paper
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Path-following; Internal model principle; B-spline fitting; Wall-following |
| Abstract |
This paper addresses the problem of path-following control of an underactuated autonomous underwater vehicle (AUV) subjected to ocean current disturbances along a given spatial path with a certain speed profile. The control architecture is the classical inner-outer loop structure that includes an observer to estimate the ocean current. For disturbance rejection, we model the ocean current as output of an exosystem and then we design an adaptive internal model to estimate the current vector and deal with uncertainties on the frequencies of the current velocity vector components. To complement this controller, we next consider the wall-following problem using profiling mechanical sonar. In order to construct a desired path, we resort to a cubic B-spline fitting method, the control points of which are obtained by a best B-spline fit to the acquired profiling sonar data. We use the above path following controller to drive the vehicle to follow the constructed path. The results of the proposed controller design for the wall-following problem are demonstrated using numerical simulations. Finally, future direction and extension of the current work toward the automatic inspection of underwater structures will be provided in the last section. |
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