Dynamic Positioning of Autonomous Underwater Vehicle in Shallow Water under the Influence of External Disturbances
Abstract
This work is devoted to the formation of dynamic positioning system for autonomous underwater vehicle with multipurpose structure. Such vehicles are applied to oceanographic research and bottom exploration. To dock with an underwater station or obtain more accurate information about the bottom, it is necessary to stabilize the vehicle at a given point in space, in other words, position the device. The problem of dynamic positioning is one of the primary control problems of marine objects. Numerous solutions to this issue have been presented for vessels. Fewer results were obtained for underwater vehicles due to a rather complex mathematical model. However, simplifications of the dynamic equation are possible in the case of positioning in shallow water, which make it possible to apply existing approaches to vessel control for underwater vehicles. The purpose of this work is to enhance the control system with multipurpose structure obtained on the basis of the separation principle by introducing into the control law an additional term. The resulting system consists of the observer, which restores the speed components of the vehicle’s movement and clears measurements of noise, and the controller, which positions the vehicle in a given position, provides the integral action of the closed-loop system and the economical mode of operation of the actuators. The integral action allows us to eliminate the deviation of the vehicle from the desired position when exposed to a constant disturbance (underwater and wind currents). Economical mode of control components makes it possible to lower their wear and reduce overall fuel consumption. A simulation is run in Simulink to illustrate the effectiveness of the obtained system.
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