Dear Editor,This letter investigates the cooperative localization problem for multiple autonomous underwater vehicles(AUVs)in underwater anchor-free environments,where AUV localization errors grow without bound due to...Dear Editor,This letter investigates the cooperative localization problem for multiple autonomous underwater vehicles(AUVs)in underwater anchor-free environments,where AUV localization errors grow without bound due to the accumulated errors in inertial measurements(termed accumulated errors hereafter)and the lack of anchors(with known positions).展开更多
Most formation approaches of autonomous underwater vehicles(AUVs)focus on the control techniques,ignoring the influence of underwater channel.This paper is concerned with a communication-aware formation issue for AUVs...Most formation approaches of autonomous underwater vehicles(AUVs)focus on the control techniques,ignoring the influence of underwater channel.This paper is concerned with a communication-aware formation issue for AUVs,subject to model uncertainty and fading channel.An integral reinforcement learning(IRL)based estimator is designed to calculate the probabilistic channel parameters,wherein the multivariate probabilistic collocation method with orthogonal fractional factorial design(M-PCM-OFFD)is employed to evaluate the uncertain channel measurements.With the estimated signal-to-noise ratio(SNR),we employ the IRL and M-PCM-OFFD to develop a saturated formation controller for AUVs,dealing with uncertain dynamics and current parameters.For the proposed formation approach,an integrated optimization solution is presented to make a balance between formation stability and communication efficiency.Main innovations lie in three aspects:1)Construct an integrated communication and control optimization framework;2)Design an IRL-based channel prediction estimator;3)Develop an IRL-based formation controller with M-PCM-OFFD.Finally,simulation results show that the formation approach can avoid local optimum estimation,improve the channel efficiency,and relax the dependence of AUV model parameters.展开更多
In this paper,we investigate formation tracking control of autonomous underwater vehicles(AUVs)with model parameter uncertainties and external disturbances.The external disturbances due to the wind,waves,and ocean cur...In this paper,we investigate formation tracking control of autonomous underwater vehicles(AUVs)with model parameter uncertainties and external disturbances.The external disturbances due to the wind,waves,and ocean currents are combined with the model parameter uncertainties as a compound disturbance.Then a disturbance observer(DO)is introduced to estimate the compound disturbance,which can be achieved within a finite time independent of the initial estimation error.Based on a DO,a novel fixed-time sliding control scheme is developed,by which the follower vehicle can track the leader vehicle with all the states globally stabilized within a given settling time.The effectiveness and performance of the method are demonstrated by numerical simulations.展开更多
A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane.A transformation is introduced to represent the tracking error system into a cas...A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane.A transformation is introduced to represent the tracking error system into a cascade form.The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach.For the stabilization of the subsystem involving the yaw moment,a control law is proposed based on the feedback linearization method.Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions.In order to demonstrate the practicability of the proposed controller,control constraints,parameter uncertainties,and external disturbances are considered according to practical situation of AUVs.Simulation results show very good tracking performance and robustness of the proposed control schemes.展开更多
A“Market” based framework for multiple AUVs team is introduced in this paper.It is a distributed meta-level task allocation framwork. The formulation and the basic concepts of the “Market” such as “goods” and “...A“Market” based framework for multiple AUVs team is introduced in this paper.It is a distributed meta-level task allocation framwork. The formulation and the basic concepts of the “Market” such as “goods” and “price” are discussed first, then the basic algorithm of the “auction”. The loosely coupled v-MDTSP tasks are considered as an example of the task allocation mission. A multiple AUV team controller and a detailed algorithm are developed for such applications. The simulation results show that the controller has the advantages such as robustness and low complexity and it can achieve better optimization results than the classical central controller (such as GA) in some tasks. And the comparison of two different local solvers also implies that we should get the reasonable task allocation even not using the high quality algorithm, which can considerably decrease the cooperation computation.展开更多
A novel underwater localization algorithm for autonomous underwater vehicle(AUVs) is proposed. Taking aim at the high cost of the traditional "leader-follower" positioning,a "parallel" model is ado...A novel underwater localization algorithm for autonomous underwater vehicle(AUVs) is proposed. Taking aim at the high cost of the traditional "leader-follower" positioning,a "parallel" model is adopted to describe the localization problem. Under an unknown-but-bounded assumption for sensor noise,bearing and range measurements can be modeled as linear constraints on the configuration space of the AUVs. Merged these constraints,a convex polyhedron representing the set of all configurations consistent with the sensor measurements can be induced. Estimates for the uncertainty in the position of a single AUV or the relative positions of two or more AUVs can then be obtained by projecting this polyhedron into appropriate subspaces of the configuration space. The localization uncertain region for each AUV can be recovered by an approximation algorithm to realize underwater localization for multiple AUVs. The deduced theoretically and the simulated results show that it is an economical and practical localization method for the AUV swarm.展开更多
To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles(AUVs),a distributed fusion algorithm which combines the model's analysis method with a ...To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles(AUVs),a distributed fusion algorithm which combines the model's analysis method with a multi-scale transformation method is proposed for integrated navigation system based on AUV.First,integrated navigation system theory and system error sources are introduced in details.Secondly,a navigation system's observation equation on the original scale is decomposed into different scales by the discrete wavelet transform method,and noise reduction is performed by setting the wavelet de-noising threshold.At last,the dynamic equation and observation equations are fused on different scales by the wavelet transformation and Kalman filter.The results show that the proposed algorithm has smaller navigation error and higher navigation accuracy.展开更多
To achieve hydrodynamic design excellence in Autonomous Underwater Vehicles(AUVs)largely depends on the accurate prediction of lift and drag forces.The study presents Computational Fluid Dynamics(CFD)-based lift and d...To achieve hydrodynamic design excellence in Autonomous Underwater Vehicles(AUVs)largely depends on the accurate prediction of lift and drag forces.The study presents Computational Fluid Dynamics(CFD)-based lift and drag estimations of a novel torpedo-shaped flight-style AUV with bow-wings.The horizontal bow-wings are provided to accommodate the electromagnetic arrays used to perform the cable detection and tracking operations near the seabed.The hydrodynamic performance of the AUV due to addition of these horizontal bow-wings is required to be investigated,particularly at the initial design stage.Hence,CFD techniques are employed to compute the lift and drag forces observed by the flight-style AUV,maneuvering underwater at different angles of attack and varying speeds.The Reynolds-Averaged Navier-Stokes Equations(RANSE)closure is achieved by employing the modified k-ϵ model and Two-Scale Wall Function(2-SWF)approach is used for boundary layer treatment.Further,the study also highlights the unique mesh refinement and solution-adaptive meshing techniques to perform the CFD simulations in Solidworks Flow Simulation(SWFS)environment.The drag polar curve for flight-style AUV with and without bow-wings is generated using the computed lift and drag coefficients.The curve provided essential insights for achieving hydrodynamically efficient and optimized AUV design.From the drag polar curve,it is revealed that due to horizontal bow-wings,the flight-style AUV is capable to generate higher lift with less drag and thus,it gives better lift-to-drag ratio compared to the AUV without bow-wings.Moreover,simulated results of axial drag observed by the AUV have also been compared with free-running experimental results and are found in good agreement.展开更多
基金the National Natural Science Foundation of China(62203299,62373246)the Oceanic Interdisciplinary Program of Shanghai Jiao Tong University(SL2022MS008,SL2020ZD206,SL2022MS010)。
文摘Dear Editor,This letter investigates the cooperative localization problem for multiple autonomous underwater vehicles(AUVs)in underwater anchor-free environments,where AUV localization errors grow without bound due to the accumulated errors in inertial measurements(termed accumulated errors hereafter)and the lack of anchors(with known positions).
基金supported in part by the National Natural Science Foundation of China(62222314,61973263,61873345,62033011)the Youth Talent Program of Hebei(BJ2020031)+2 种基金the Distinguished Young Foundation of Hebei Province(F2022203001)the Central Guidance Local Foundation of Hebei Province(226Z3201G)the Three-Three-Three Foundation of Hebei Province(C20221019)。
文摘Most formation approaches of autonomous underwater vehicles(AUVs)focus on the control techniques,ignoring the influence of underwater channel.This paper is concerned with a communication-aware formation issue for AUVs,subject to model uncertainty and fading channel.An integral reinforcement learning(IRL)based estimator is designed to calculate the probabilistic channel parameters,wherein the multivariate probabilistic collocation method with orthogonal fractional factorial design(M-PCM-OFFD)is employed to evaluate the uncertain channel measurements.With the estimated signal-to-noise ratio(SNR),we employ the IRL and M-PCM-OFFD to develop a saturated formation controller for AUVs,dealing with uncertain dynamics and current parameters.For the proposed formation approach,an integrated optimization solution is presented to make a balance between formation stability and communication efficiency.Main innovations lie in three aspects:1)Construct an integrated communication and control optimization framework;2)Design an IRL-based channel prediction estimator;3)Develop an IRL-based formation controller with M-PCM-OFFD.Finally,simulation results show that the formation approach can avoid local optimum estimation,improve the channel efficiency,and relax the dependence of AUV model parameters.
基金supported in part by the National Natural Science Foundation of China(61573077,U1808205)the National Key Research and Development Program of China(2017YFA0700300)
文摘In this paper,we investigate formation tracking control of autonomous underwater vehicles(AUVs)with model parameter uncertainties and external disturbances.The external disturbances due to the wind,waves,and ocean currents are combined with the model parameter uncertainties as a compound disturbance.Then a disturbance observer(DO)is introduced to estimate the compound disturbance,which can be achieved within a finite time independent of the initial estimation error.Based on a DO,a novel fixed-time sliding control scheme is developed,by which the follower vehicle can track the leader vehicle with all the states globally stabilized within a given settling time.The effectiveness and performance of the method are demonstrated by numerical simulations.
基金supported by the National Natural Science Foundation of China(Grant No.10802026)
文摘A global trajectory tracking controller is presented for underactuated AUVs with only surge force and yaw moment in the horizontal plane.A transformation is introduced to represent the tracking error system into a cascade form.The global and uniform asymptotic stabilization problem of the resulting cascade system is reduced to the stabilization problem of two subsystems by use of the cascade approach.For the stabilization of the subsystem involving the yaw moment,a control law is proposed based on the feedback linearization method.Another subsystem is stabilized by designing a fuzzy sliding mode controller which can offer a systematical means of constructing a set of shrinking-span and dilating-span membership functions.In order to demonstrate the practicability of the proposed controller,control constraints,parameter uncertainties,and external disturbances are considered according to practical situation of AUVs.Simulation results show very good tracking performance and robustness of the proposed control schemes.
文摘A“Market” based framework for multiple AUVs team is introduced in this paper.It is a distributed meta-level task allocation framwork. The formulation and the basic concepts of the “Market” such as “goods” and “price” are discussed first, then the basic algorithm of the “auction”. The loosely coupled v-MDTSP tasks are considered as an example of the task allocation mission. A multiple AUV team controller and a detailed algorithm are developed for such applications. The simulation results show that the controller has the advantages such as robustness and low complexity and it can achieve better optimization results than the classical central controller (such as GA) in some tasks. And the comparison of two different local solvers also implies that we should get the reasonable task allocation even not using the high quality algorithm, which can considerably decrease the cooperation computation.
基金Sponsored by National Natural Foundation (50979093)High Technology Research and Development Program of China (2007AA809502C)Program for New Century Excellent Talents in University (NCET-06-0877)
文摘A novel underwater localization algorithm for autonomous underwater vehicle(AUVs) is proposed. Taking aim at the high cost of the traditional "leader-follower" positioning,a "parallel" model is adopted to describe the localization problem. Under an unknown-but-bounded assumption for sensor noise,bearing and range measurements can be modeled as linear constraints on the configuration space of the AUVs. Merged these constraints,a convex polyhedron representing the set of all configurations consistent with the sensor measurements can be induced. Estimates for the uncertainty in the position of a single AUV or the relative positions of two or more AUVs can then be obtained by projecting this polyhedron into appropriate subspaces of the configuration space. The localization uncertain region for each AUV can be recovered by an approximation algorithm to realize underwater localization for multiple AUVs. The deduced theoretically and the simulated results show that it is an economical and practical localization method for the AUV swarm.
基金National Natural Science Foundation of China(51779057,51709061,51509057)the Equipment Pre-Research Project(41412030201)the National 863 High Technology Development Plan Project(2011AA09A106)。
文摘To deal with the low location accuracy issue of existing underwater navigation technologies in autonomous underwater vehicles(AUVs),a distributed fusion algorithm which combines the model's analysis method with a multi-scale transformation method is proposed for integrated navigation system based on AUV.First,integrated navigation system theory and system error sources are introduced in details.Secondly,a navigation system's observation equation on the original scale is decomposed into different scales by the discrete wavelet transform method,and noise reduction is performed by setting the wavelet de-noising threshold.At last,the dynamic equation and observation equations are fused on different scales by the wavelet transformation and Kalman filter.The results show that the proposed algorithm has smaller navigation error and higher navigation accuracy.
基金supported in part by the National Natural Science Foundation of China(Grant Nos.52131101 and 52071153)in part by Hubei Natural Science Foundation for Innovation Groups(Grant No.2021CFA026).
文摘To achieve hydrodynamic design excellence in Autonomous Underwater Vehicles(AUVs)largely depends on the accurate prediction of lift and drag forces.The study presents Computational Fluid Dynamics(CFD)-based lift and drag estimations of a novel torpedo-shaped flight-style AUV with bow-wings.The horizontal bow-wings are provided to accommodate the electromagnetic arrays used to perform the cable detection and tracking operations near the seabed.The hydrodynamic performance of the AUV due to addition of these horizontal bow-wings is required to be investigated,particularly at the initial design stage.Hence,CFD techniques are employed to compute the lift and drag forces observed by the flight-style AUV,maneuvering underwater at different angles of attack and varying speeds.The Reynolds-Averaged Navier-Stokes Equations(RANSE)closure is achieved by employing the modified k-ϵ model and Two-Scale Wall Function(2-SWF)approach is used for boundary layer treatment.Further,the study also highlights the unique mesh refinement and solution-adaptive meshing techniques to perform the CFD simulations in Solidworks Flow Simulation(SWFS)environment.The drag polar curve for flight-style AUV with and without bow-wings is generated using the computed lift and drag coefficients.The curve provided essential insights for achieving hydrodynamically efficient and optimized AUV design.From the drag polar curve,it is revealed that due to horizontal bow-wings,the flight-style AUV is capable to generate higher lift with less drag and thus,it gives better lift-to-drag ratio compared to the AUV without bow-wings.Moreover,simulated results of axial drag observed by the AUV have also been compared with free-running experimental results and are found in good agreement.