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(Referência obtida automaticamente do Web of Science, por meio da informação sobre o financiamento pela FAPESP e o número do processo correspondente, incluída na publicação pelos autores.)

Study of autonomous underwater vehicle wave disturbance rejection in the diving plane

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Autor(es):
Dantas, Joao L. D. [1] ; da Cruz, Jose J. [2] ; de Barros, Ettore A. [1]
Número total de Autores: 3
Afiliação do(s) autor(es):
[1] Univ Sao Paulo, Dept Mechatron & Mech Syst Engn, BR-05508900 Sao Paulo, SP - Brazil
[2] Univ Sao Paulo, Dept Elect Engn, BR-05508900 Sao Paulo, SP - Brazil
Número total de Afiliações: 2
Tipo de documento: Artigo Científico
Fonte: Proceedings of the Institution of Mechanical Engineers Part M-Journal of En; v. 228, n. 2, SI, p. 122-135, MAY 2014.
Citações Web of Science: 5
Resumo

Autonomous underwater vehicles operating near the sea surface are subject to wave disturbances in their motion, which can affect severely the data acquisition during the vehicle motion. Bathymetric maps, for example, may suffer a big loss in quality due to such kind of disturbances that can impose oscillations in the vehicle depth and attitude. This article describes a controller structure for compensating the wave disturbances in the vertical plane for a torpedo-like autonomous underwater vehicle, based on a modified version of the linear quadratic Gaussian with loop transfer recovery control combined with a wave filter. The proposed methodology uses additional to the classic linear quadratic Gaussian with loop transfer recovery design the measurement of non-controlled states, such as the pitch rate and heave velocity, in the control action. The wave disturbances were filtered away by a shaping filter fitted to the sea spectrum, and the sensor signals were integrated by an extended Kalman filter. The proposed control methodology was tested against the classical linear quadratic Gaussian with loop transfer recovery controller in a 6-degree-of-freedom non-linear autonomous underwater vehicle simulator, producing a better performance in most demanding conditions such high wave crests. The tests also revealed the impact of the hydroplane geometry on the controller performance, which should not be underestimated by the autopilot designer. (AU)

Processo FAPESP: 09/10205-3 - Investigação numérica de esforços hidrodinâmicos sobre veículos autônomos submarinos
Beneficiário:Ettore Apolonio de Barros
Linha de fomento: Auxílio à Pesquisa - Regular