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Modeling of a Complex-Shaped Underwater Vehicle for Robust Control Scheme

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Abstract

The two critical issues of robust control are stable controller synthesis and control performance guarantee in the presence of model uncertainties. Inside all robust stable solutions, small modeling parametric uncertainties lead to better performance controllers. However, the cost to develop an accurate hydrodynamic model, which shrinks the uncertainty intervals, is usually high. Meanwhile, when the robot geometry is complex, it becomes very difficult to identify its dynamic and hydrodynamic parameters. In this paper, the main objective is to find an efficient modeling approach to tune acceptable control design models. A control-oriented modeling approach is proposed for a low-speed semi-AUV (Autonomous Underwater Vehicle) CISCREA, which has complex-shaped structures. The proposed solution uses cost efficient CFD (computational fluid dynamic) software to predict the two hydrodynamic key parameters: The added mass matrix and the damping matrix. Four DOF (degree of freedom) model is built for CISCREA from CFD and verified through experimental results. Numerical and experimental results are compared. In addition, rotational damping CFD solutions are studied using STAR-CCM+ TM. A nonlinear compensator is demonstrated to tune linear yaw model for robust control scheme.

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Author information

Authors and Affiliations

  1. Joint PhD candidate between ENSTA Bretagne and Ocean University of China, Brest, France

    Rui Yang

  2. Lab-STICC, UMR CNRS 6285, ENSTA Bretagne, 29806, Brest Cedex 9, France

    Benoit Clement & Ali Mansour

  3. College of Engineering, Ocean University of China, Qingdao, 266100, China

    Ming Li

  4. State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai, 200030, China

    Nailong Wu

Authors
  1. Rui Yang
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  2. Benoit Clement
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  3. Ali Mansour
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  4. Ming Li
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  5. Nailong Wu
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Corresponding author

Correspondence to Rui Yang.

Additional information

This work was supported by the China Scholarship Council.

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Yang, R., Clement, B., Mansour, A. et al. Modeling of a Complex-Shaped Underwater Vehicle for Robust Control Scheme. J Intell Robot Syst 80, 491–506 (2015). https://doi.org/10.1007/s10846-015-0186-2

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  • DOI: https://doi.org/10.1007/s10846-015-0186-2

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