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Depth Tracking Control of Unmanned Underwater Vehicle with Roll Suppression

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Intelligent Robotics and Applications (ICIRA 2024)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 15206))

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Abstract

Due to the torque characteristics of the propeller during rotation, the unmanned underwater vehicle (UUV) will produce a roll effect, which is unfavourable for UUV that require precise detection. How to design a control algorithm to weaken or even eliminate the roll effect is a topic worthy of study. This paper first analyzes the roll effect of the UUV, designs a rudder force distribution strategy for the cross-shaped structure, and proposes a model-free adaptive roll suppression based on the online/offline I/O data-driven reorganization state iterative learning (IL-MFAC) method. This method consists of iterative learning control law, parameter updating law and reset criterion. It is designed only using the online/offline I/O parameters of the controlled system and is a typical data-driven control algorithm. Finally, through numerical simulation, the effectiveness and superiority of this algorithm in UUV roll suppression were confirmed.

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Acknowledgments

This work is partially supported by Hubei Provincial Natural Science Foundation, China for Innovation Groups (No. 2021CFA026), and National Natural Science Foundation of China (No. 52071153, No. 52131101).

Author information

Authors and Affiliations

  1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, 430074, China

    Donglei Dong, Xianbo Xiang & Shaolong Yang

  2. International Science and Technology Cooperation Offshore Center for Ship and Marine Intelligent Equipment and Technology, Hubei, China

    Xianbo Xiang & Shaolong Yang

  3. Department of Electrical and Electronic Engineering, The University of Hong Kong, Hongkong, 999077, China

    Jinjiang Li

Authors
  1. Donglei Dong
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  2. Xianbo Xiang
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  3. Jinjiang Li
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  4. Shaolong Yang
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Corresponding author

Correspondence to Xianbo Xiang .

Editor information

Editors and Affiliations

  1. Xi’an Jiaotong University, Xi’an, China

    Xuguang Lan

  2. Xi’an Jiaotong University, Xi’an, China

    Xuesong Mei

  3. Xi’an Jiaotong University, Xi'an, China

    Caigui Jiang

  4. Xi’an Jiaotong University, Xi’an, China

    Fei Zhao

  5. Xi'an Jiaotong University, Xi'an, China

    Zhiqiang Tian

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Dong, D., Xiang, X., Li, J., Yang, S. (2025). Depth Tracking Control of Unmanned Underwater Vehicle with Roll Suppression. In: Lan, X., Mei, X., Jiang, C., Zhao, F., Tian, Z. (eds) Intelligent Robotics and Applications. ICIRA 2024. Lecture Notes in Computer Science(), vol 15206. Springer, Singapore. https://doi.org/10.1007/978-981-96-0792-1_9

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  • DOI: https://doi.org/10.1007/978-981-96-0792-1_9

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  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-96-0791-4

  • Online ISBN: 978-981-96-0792-1

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