Autonomous Underwater Vehicles: Modeling, Control Design and Simulation

by Wadoo; Sabiha

• ISBN13: 9781439818312
• ISBN10: 1439818312
• Edition: 1st
• Format: Hardcover
• Copyright: 2010-12-03
• Publisher: CRC Press

Summary

Underwater vehicles present some difficult and very particular control system design problems. These are often the result of nonlinear dynamics and uncertain models, as well as the presence of sometimes unforeseeable environmental disturbances that are difficult to measure or estimate.Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential information, giving readers a truly unique and all-encompassing new perspective on design.Includes MATLAB® Simulations to Illustrate Concepts and Enhance UnderstandingStarting with an introductory overview, the book offers examples of underwater vehicle construction, exploring kinematic fundamentals, problem formulation, and controllability, among other key topics. Particularly valuable to researchers is the book's detailed coverage of mathematical analysis as it applies to controllability, motion planning, feedback, modeling, and other concepts involved in nonlinear control design. Throughout, the authors reinforce the implicit goal in underwater vehicle design'”to stabilize and make the vehicle follow a trajectory precisely.Fundamentally nonlinear in nature, the dynamics of AUVs present a difficult control system design problem which cannot be easily accommodated by traditional linear design methodologies. The results presented here can be extended to obtain advanced control strategies and design schemes not only for autonomous underwater vehicles but also for other similar problems in the area of nonlinear control.

Table of Contents

Preface	p. xi
About the Authors	p. xiii
Introduction	p. 1
Overview	p. 1
Examples of Underwater Vehicle Construction	p. 4
Propeller Principle	p. 6
Wings	p. 6
Propellers	p. 8
Commercially Available Underwater Vehicles	p. 11
Vehicle Kinematics Fundamentals	p. 12
Frenet-Serret Equations for Cartan Moving Frame	p. 12
Mathematical Background for Rigid Motion in a Plane	p. 18
Rotation of a Vector	p. 18
Vector Represented in a Rotated Frame	p. 19
Representation of a Rotated Frame	p. 19
Group Representation	p. 20
Homogeneous Representation	p. 22
Lie Groups and Lie Algebras	p. 23
Matrix Groups	p. 23
Lie Groups	p. 26
Problem Formulation and Examples	p. 29
Motion Planning of Nonholonomic Systems	p. 29
Nonholonomic Constraints	p. 30
Problem Description	p. 31
Control Model Formulation	p. 33
Controllability Issues	p. 34
Stabilization	p. 35
Controllability and Stabilization at a Point	p. 35
Controllability and Stabilization about Trajectory	p. 36
Approximate Linearization	p. 36
Exact Feedback Linearization	p. 36
Static Feedback Linearization	p. 37
Dynamic Feedback Linearization	p. 37
Examples of Nonholonomic Systems	p. 38
Mathematical Modeling and Controllability Analysis	p. 41
Mathematical Modeling	p. 41
Kinematic Modeling and Nonholonomic Constraints	p. 41
Kinematic Model with Respect to Global Coordinates	p. 42
Controllability Analysis	p. 46
Controllability about a Point	p. 46
Controllability about a Trajectory	p. 48
Chained Forms	p. 50
Control Design Using the Kinematic Model	p. 55
Trajectory Tracking and Controller Design for the Chained Form	p. 55
Reference Trajectory Generation	p. 55
Control Using Approximate Linearization	p. 58
Simulation of the Controller	p. 61
MATLAB® Program Code for the Approximate Linearization	p. 68
Control Using Exact Feedback Linearization via State and Input Transformations	p. 77
Control Using Exact Feedback Linearization via Static Feedback	p. 78
Control Using Exact Feedback Linearization via Dynamic Feedback	p. 79
Simulation of the Controller	p. 81
MATLAB Program Code for Dynamic Extension	p. 88
Point-to-Point Stabilization	p. 98
Control with Smooth Time-Varying Feedback	p. 99
Power Form	p. 99
Control Design with Smooth Time-Varying Feedback	p. 100
Simulation of the Controller	p. 101
MATLAB Program Code for Point Stabilization	p. 107
Control Design Using the Dynamic Model	p. 117
Dynamic Modeling	p. 117
Point-to-Point Stabilization Control Design	p. 118
State Feedback Control Using Backstepping	p. 119
Control with Smooth Time-Varying Feedback	p. 120
Lyapunov Stability Analysis	p. 121
Control of the Dynamic Model	p. 122
Robust Feedback Control Design	p. 127
Robust Control Using the Kinematic Model	p. 127
Input Uncertain Control Model	p. 128
Robust Control by the Lyapunov Redesign Method	p. 130
Robust Control Using the Dynamic Model	p. 133
Robust Backstepping: Unmatched Uncertainty	p. 134
Robust Control: Matched Uncertainty	p. 137
Robust Control: Both Matched and Unmatched Uncertainties	p. 140
References	p. 143
Index	p. 145
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