Ir al contenido

Documat

Ley de control óptima de un AUV funcionando con un único motor

  • Cerrada Collado, Cristina [1] ; Chaos García, Dictino [1] ; Moreno-Salinas, David [1] ; Aranda Almansa, Joaquín [1] Árbol académico
    1. [1] Universidad Nacional de Educación a Distancia

      Universidad Nacional de Educación a Distancia

      Madrid, España

  • Localización: Revista iberoamericana de automática e informática industrial ( RIAI ), ISSN-e 1697-7920, Vol. 20, Nº. 4, 2023, págs. 389-400
  • Idioma: español
  • DOI: 10.4995/riai.2023.19034
  • Títulos paralelos:
    • Optimal control law of an AUV using a single thruster
  • Enlaces
  • Resumen
    • español

      En este artículo se plantea el problema de optimización de una ley de control para minimizar el error cuadrático integral al conducir un AUV (Autonomous Underwater Vehicle, vehículo autónomo submarino) actuado con un único motor desde un punto de partida hasta una zona de recuperación deseada. Así mismo se muestran dos posibles soluciones de control y se discute su implementación en el vehículo. Para la optimización de la ley de control se utilizarán los algoritmos genéticos y se proponen dos soluciones: En la primera se optimiza la ley de control muestreada en función del tiempo. La segunda, por su parte, emplea una acción de control óptima en función de la orientación del vehículo a partir de una ley de control representada mediante una serie de Fourier. El correcto funcionamiento de las soluciones propuestas se demuestra mediante una serie de simulaciones que consideran distintas condiciones y situaciones posibles.

    • English

      The present paper presents a optimization problem of a control law to minimize the integral square error produced by driving an AUV (Autonomous Underwater Vehicle) using a single thruster from a start point to a desired recovery area. In addition, two possible control solutions are studied and their implementation in the real vehicle. Genetic algorithms are employed to optimize the control law and two solutions are proposed. In the first solution, a control law sampled as a function of time is optimized. And in the second solutions, an optimal control action as a function of the orientation of the vehicle from a control law represented by a Fourier series is used. The correct functioning of the proposed solutions is demonstrated through a series of simulations that consider different conditions and possible situations.

  • Referencias bibliográficas
    • Abreu, P. C., Botelho, J., Gois, P., Pascoal, A., Ribeiro, J., Ribeiro, M., Rufino, M., Sebastiao, L., Silva, H., 2016. The MEDUSA class of...
    • Aguiar, A., Pascoal, A., 2001. Regulation of a nonholonomic autonomous underwater vehicle with parametric modeling uncertainty using Lyapunov...
    • Ahmadzadeh, S. R., Kormushev, P., Caldwell, D. G., 2014a. Multi-objective reinforcement learning for AUV thruster failure recovery. In: 2014...
    • Ahmadzadeh, S. R., Leonetti, M., Carrera, A., Carreras, M., Kormushev, P., Caldwell, D. G., 2014b. Online discovery of AUV control policies...
    • Alvarez, C., Saltarén, R., Aracil, R., García, C., 2009. Concepcion, Desarrollo y Avances en el Control de Navegacion de Robots Submarinos...
    • Amin, A. A., Hasan, K. M., 2019. A review of Fault Tolerant Control Systems: Advancements and applications. Measurement 143, 58-68. https://doi.org/10.1016/j.measurement.2019.04.083
    • Antonelli, G., 2003. A Survey of Fault Detection/Tolerance Strategies for AUVs and ROVs. In: Caccavale, F., Villani, L. (Eds.), Fault Diagnosis...
    • Baldini, A., Ciabattoni, L., Felicetti, R., Ferracuti, F., Freddi, A., Monteriu, A., 2018. Dynamic surface fault tolerant control for underwater...
    • Boyd, S., Vandenberghe, L., 2004. Convex Optimization. Cambridge University Press, Cambridge. https://doi.org/10.1017/CBO9780511804441
    • Cerrada, C., Chaos, D., Moreno-Salinas, D., Aranda, J., 2022. Optimización ley de control para un AUV funcionando con un único motor. In:...
    • Chaos, D., Moreno-Salinas, D., Aranda, J., 2022. Fault-Tolerant Control for AUVs Using a Single Thruster. IEEE Access 10, 22123-22139. https://doi.org/10.1109/ACCESS.2022.3152190
    • Corradini, M. L., Monteriu, A., Orlando, G., 2011. An Actuator Failure Tolerant Control Scheme for an Underwater Remotely Operated Vehicle....
    • Crasta, N., Moreno-Salinas, D., Pascoal, A. M., Aranda, J., 2018. Multiple autonomous surface vehicle motion planning for cooperative range-based...
    • Ding, X., Zhu, D., 2020. Research on Static Fault-tolerant Control Method of UUV Based on MPC in Two Dimension. In: 2020 Chinese Control And...
    • Fossen, T. I., 2002. Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles. Marine Cybernetics AS,...
    • Ghabcheloo, R., Aguiar, A. P., Pascoal, A., Silvestre, C., Kaminer, I., Hespanha, J., 2009. Coordinated Path-Following in the Presence of...
    • Hao, L.-Y., Zhang, H., Li, H., Li, T.-S., 2020. Sliding mode fault-tolerant control for unmanned marine vehicles with signal quantization...
    • Hao, L.-Y., Zhang, H., Li, T.-S., Lin, B., Chen, C. L. P., 2021a. Fault Tolerant Control for Dynamic Positioning of Unmanned Marine Vehicles...
    • Hao, L.-Y., Zhang, Y.-Q., Li, H., 2021b. Fault-tolerant control via integral sliding mode output feedback for unmanned marine vehicles. Applied...
    • Hou, C., Li, X., Wang, H., Zhai, P., Lu, H., 2022. Fuzzy linear extended states observer-based iteration learning fault-tolerant control for...
    • Kramer, O., 2017. Genetic Algorithm Essentials. Springer International Publishing AG, part of Springer Nature, Cham.
    • Leonetti, M., Ahmadzadeh, S. R., Kormushev, P., 2013. On-line learning to recover from thruster failures on Autonomous Underwater Vehicles....
    • Li, H., Pan, J., Zhang, X., Yu, J., 2021. Integral-based event-triggered fault estimation and impulsive fault-tolerant control for networked...
    • Li, H., Xu, J., Yu, J., 2022. Discrete Event-Triggered Fault-Tolerant Control of Underwater Vehicles Based on Takagi-Sugeno Fuzzy Model. IEEE...
    • Liu, F., Tang, H., Qin, Y., Duan, C., Luo, J., Pu, H., 2022. Review on fault diagnosis of unmanned underwater vehicles. Ocean Engineering...
    • Lv, T., Zhou, J., Wang, Y., Gong, W., Zhang, M., 2020. Sliding mode based fault tolerant control for autonomous underwater vehicle. Ocean...
    • Mondal, K., Banerjee, T., 2019. Autonomous Underwater Vehicles: Recent Developments and Future Prospects. International Journal for Research...
    • Moreno-Salinas, D., Pascoal, A., Aranda, J., 2016. Optimal Sensor Placement for Acoustic Underwater Target Positioning With Range-Only Measurements....
    • Ozturk, A., 2021. Lessons Learned from Robotics and AI in a Liability Context: A Sustainability Perspective. In: Carpenter, A., Johansson,...
    • Pearson, A. R., Sutton, R., Burns, R. S., Robinson, P., 2001. A Fuzzy Fault Tolerant Control Scheme for an Autonomous Underwater Vehicle....
    • Podder, T. K., Sarkar, N., 2001. Fault-tolerant control of an autonomous underwater vehicle under thruster redundancy. Robotics and Autonomous...
    • Pugi, L., Allotta, B., Pagliai, M., 2018. Redundant and reconfigurable propulsion systems to improve motion capability of underwater vehicles....
    • Puig, V., Quevedo, J., Escobet, T., Morcego, B., Ocampo, C., 2004a. Control Tolerante a Fallos (Parte I): Fundamentos y Diagnostico de Fallos....
    • Puig, V., Quevedo, J., Escobet, T., Morcego, B., Ocampo, C., 2004b. Control Tolerante a Fallos (Parte II): Mecanismos de Tolerancia y Sistema...
    • Rauber, J. G., Santos, C. H. F. d., Chiella, A. C. B., Motta, L. R. H., 2012. A strategy for thruster fault-tolerant control applied to an...
    • Sarkar, N., Podder, T. K., Antonelli, G., 2002. Fault-accommodating thruster force allocation of an AUV considering thruster redundancy and...
    • SNAME, 1950. Nomenclature for Treating the Motion of a Sumerged Body Through a Fluid. Tech. rep., The Society of naval Architects and Marine...
    • Tian, Q.,Wang, T., Liu, B., Ran, G., 2022. Thruster Fault Diagnostics and Fault Tolerant Control for Autonomous Underwater Vehicle with Ocean...
    • Tolstov, G. P., Silverman, R. A., 1976. Fourier Series. Dover Publications, Inc., New York.
    • van Laarhoven, P. J. M., Aarts, E. H. L., 1987. Simulated annealing. Springer Netherlands, Dordrecht, pp. 7-15. https://doi.org/10.1007/978-94-015-7744-1
    • Wang, Y., Jiang, B., Wu, Z., Xie, S., Peng, Y., 2020. Adaptive Sliding Mode Fault-Tolerant Fuzzy Tracking Control With Application to Unmanned...
    • Yang, Y., Xiao, Y., Li, T., 2021. A Survey of Autonomous Underwater Vehicle Formation: Performance, Formation Control, and Communication Capability....
    • Zhang, H., Zhu, D., 2021. Quantum-Behaved Particle Swarm Optimization Fault-Tolerant Control for Human Occupied Vehicle. In: Liu, X.-J., Nie,...
    • Zhu, D., Liu, Q., Hu, Z., 2011. Fault-tolerant control algorithm of the manned submarine with multi-thruster based on quantum-behaved particle...
    • Zhu, D., Wang, L., Hu, Z., Yang, S. X., 2021. A Grasshopper Optimization-based fault-tolerant control algorithm for a human occupied submarine...
Fundación Dialnet

Mi Documat

Opciones de artículo

Opciones de compartir

Opciones de entorno