S. A. Mohamed, Omar K. Abdelgelil, Osama A. Elhout, Hend M. Aafia, M. Awad, Hossam E. Abd El Munim
{"title":"Design of a highly-efficient embedded controller for AUV stabilization and trajectory tracking using minimal computational resources","authors":"S. A. Mohamed, Omar K. Abdelgelil, Osama A. Elhout, Hend M. Aafia, M. Awad, Hossam E. Abd El Munim","doi":"10.1109/NILES53778.2021.9600509","DOIUrl":null,"url":null,"abstract":"This paper proposes a computationally-efficient controller for an AUV which could be implemented using a single-purpose microcontroller. The AUV under study has a complex eight-thruster mechanical configuration. Such system imposes concerns like non-linear behavior, coupled dynamics and parameter uncertainty. An extensive study on vehicle kinematics/dynamics is proposed, followed by formulating a non-linear model for the test vehicle. Dynamic decoupling is applied to break the system into two sub-systems controlled using two independent simple controllers. An LQR controller is used for stabilizing vehicle depth and roll/pitch attitude. A self-tuning PID controller is used for trajectory tracking of surge velocity and yaw attitude. The combined LQR/Adaptive PID control architecture deals very well with noise and uncertainty with minimal computational effort. The controller is verified experimentally using multiple motion scenarios for a test AUV.","PeriodicalId":249153,"journal":{"name":"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","volume":"50 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2021-10-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2021 3rd Novel Intelligent and Leading Emerging Sciences Conference (NILES)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/NILES53778.2021.9600509","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This paper proposes a computationally-efficient controller for an AUV which could be implemented using a single-purpose microcontroller. The AUV under study has a complex eight-thruster mechanical configuration. Such system imposes concerns like non-linear behavior, coupled dynamics and parameter uncertainty. An extensive study on vehicle kinematics/dynamics is proposed, followed by formulating a non-linear model for the test vehicle. Dynamic decoupling is applied to break the system into two sub-systems controlled using two independent simple controllers. An LQR controller is used for stabilizing vehicle depth and roll/pitch attitude. A self-tuning PID controller is used for trajectory tracking of surge velocity and yaw attitude. The combined LQR/Adaptive PID control architecture deals very well with noise and uncertainty with minimal computational effort. The controller is verified experimentally using multiple motion scenarios for a test AUV.