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As the demand for underwater robots in complex environments continues to grow, research on their agile motion capabilities becomes increasingly crucial. This paper focuses on the design and agile motion control of autonomous underwater vehicles (AUVs) operating in subsea environments, addressing key issues such as structural design, system modeling, and control algorithm development. An optimization model for the arrangement of propellers is formulated and solved using a Sequential Quadratic Programming (SQP) algorithm. Computational Fluid Dynamics (CFD) software is employed for hydrodynamic analysis and shape optimization. A novel adaptive event-triggered nonlinear model predictive control (AET-NMPC) algorithm is proposed and compared with traditional Cascaded Proportional–Integral–Derivative (PID) control and event-triggered cascaded PID control algorithms. Simulation and experimental results demonstrate that the AET-NMPC algorithm significantly enhances the response capability and control accuracy of underwater robots in complex tasks, with the trajectory tracking error being reduced to 4.89%. This study provides valuable insights into the design and control strategies for AUVs, paving the way for more sophisticated underwater operations in challenging environments.
Details
Structural engineering;
Accuracy;
Proportional integral derivative;
Hydrodynamics;
Fluid dynamics;
Ocean currents;
Algorithms;
Propellers;
Optimization;
Task complexity;
Quadratic programming;
Ocean bottom;
Predictive control;
Underwater robots;
Movement;
Motion control;
Structural design;
Design;
Tracking errors;
Efficiency;
Optimization models;
Autonomous underwater vehicles;
Control theory;
Control algorithms;
Shape optimization;
Robot dynamics;
Robots;
Underwater exploration;
Underwater vehicles;
Computational fluid dynamics;
Nonlinear control;
Robot control
; Zhao, Liming 1 1 College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China; [email protected] (B.W.); [email protected] (L.Z.)
2 Ocean College, Zhejiang University, Zhoushan 316021, China; [email protected], Hainan Institute, Zhejiang University, Sanya 572025, China
3 College of Electrical Engineering, Zhejiang University, Hangzhou 310027, China; [email protected] (B.W.); [email protected] (L.Z.), Hainan Institute, Zhejiang University, Sanya 572025, China