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

Rui Yang 1, 2 Benoit Clement 1, 2 Ali Mansour 3, 4 Ming Li 5 Nailong Wu 6
1 Lab-STICC_ENSTAB_CID_IHSEV ; OSM
STIC - Pôle STIC [Brest]
2 Lab-STICC_ENSTAB_CID_PRASYS
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
3 Lab-STICC_ENSTAB_CACS_COM ; IDM
STIC - Pôle STIC [Brest], Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
4 Lab-STICC_ENSTAB_CACS_COM
Lab-STICC - Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance
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 complexshaped 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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https://hal.archives-ouvertes.fr/hal-01138567
Contributeur : Annick Billon-Coat <>
Soumis le : jeudi 2 avril 2015 - 11:14:02
Dernière modification le : mercredi 24 juin 2020 - 16:19:56

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Rui Yang, Benoit Clement, Ali Mansour, Ming Li, Nailong Wu. Modeling of a Complex-Shaped Underwater Vehicle for Robust Control Scheme. Journal of Intelligent and Robotic Systems, Springer Verlag, 2015, ⟨10.1007/s10846-015-0186-2⟩. ⟨hal-01138567⟩

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