S. A. Mohamed, Omar K. Abdelgelil, Osama A. Elhout, Hend M. Aafia, M. Awad, Hossam E. Abd El Munim
{"title":"利用最小的计算资源设计一种高效的水下航行器稳定和轨迹跟踪嵌入式控制器","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":"{\"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}","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}
Design of a highly-efficient embedded controller for AUV stabilization and trajectory tracking using minimal computational resources
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.