Advertisement

Neural Network Control of Buoyancy-Driven Autonomous Underwater Glider

  • Khalid Isa
  • M. R. Arshad
Chapter
Part of the Studies in Computational Intelligence book series (SCI, volume 480)

Abstract

This chapter presents a mathematical model and motion control analysis of a buoyancy-driven underwater glider. The glider mathematical model, which includes the presence of disturbance from the water currents, has been designed by using the Newton-Euler method. In order to predict and control the glider motion, a neural network control has been used as a model predictive control (MPC) as well as a gain tuning algorithm. The motion has been controlled by six control inputs: two forces of a sliding mass, a ballast pumping rate, and three velocities of water currents. The simulation results show the analysis of the motion control system for both neural network control approaches, and a comparison with the Linear Quadratic Regulator (LQR) controller is also included. The results show that the model is stable, and the neural network controller of MPC produced better control performance than the neural network gain tuner and the LQR, where the accuracy value of the MPC is 94.5 %.

Keywords

Control Input Pitch Angle Model Predictive Control Linear Quadratic Regulator Neural Network Control 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Notes

Acknowledgments

The author would like to thank the Malaysia Ministry of Higher Education (MOHE), ERGS-203/PELECT/6730045, Universiti Sains Malaysia (USM) and Universiti Tun Hussein Onn Malaysia (UTHM) for supporting the research.

References

  1. 1.
    H. Stommel, The Slocum mission. Oceanography 2, 22–25 (1989).CrossRefGoogle Scholar
  2. 2.
    D.C. Webb, P.J. Simonetti, C.P. Jones, SLOCUM: An underwater glider propelled by environment energy. IEEE J. Oceanic Eng. 26(4), 447–452 (2001).CrossRefGoogle Scholar
  3. 3.
    J. Sherman, R.E. Davis, W.B. Owens, J. Valdes, The autonomous underwater glider “spray”. IEEE J. Oceanic Eng. 26(4), 437–446 (2001).CrossRefGoogle Scholar
  4. 4.
    C.C. Eriksen, T.J. Osse, R.D. Light, T.Wen, T.W. Lehman, P.L. Sabin, J.W. Ballard, A.M. Chiodi, Seaglider: A long range autonomous underwater vehicle for oceanographic research. IEEE J. Oceanic Eng. 26(4), 424–436 (2001).CrossRefGoogle Scholar
  5. 5.
    T.J. Osse, C.C. Eriksen, in The Deepglider: A full Ocean Depth Glider for Oceanographic Research. Proceedings of IEEE Oceans 2007 (IEEE Press, New York, 2007), pp. 1–12Google Scholar
  6. 6.
    D.L. Rudnick, R.E. Davis, C.C. Eriksen, D.M. Fratantoni, M.J. Perry, Underwater gliders for ocean research. Mar. Tech Soc. J. 38(1), 48–59 (2004).Google Scholar
  7. 7.
    S.A. Jenkins, D.E. Humphreys, J. Sherman, J. Osse, C. Jones, N. Leonard, J.G. Graver, R. Bachmayer, T. Clem, P. Caroll, P. Davis, J. Berry, P. Wosley, J. Wasyl, Under water glider system study. Tech. report 53, Scripps Institute of Oceanography, University of California, (San Diego, 2003).Google Scholar
  8. 8.
    R. Bachmayer, J.G. Graver, N.E. Leonard, in Glider control: A Close Look into the Current Glider Controller Structure and Future Developments, Proceedings of OCEANS 2003 (IEEE Press, New York, 2003), pp. 951–954Google Scholar
  9. 9.
    D. C. Seo, G. Jo, H. S. Choi, in Pitching Control Simulations of an Underwater Glider Using CFD Analysis. Proceedings of OCEANS 2008 (IEEE Press, New York, 2008), pp. 1–5Google Scholar
  10. 10.
    N. Mahmoudian, C. Woolsey, in Underwater Glider Motion Control, Proceedings of the 47th IEEE Conference on Decision and Control, pp. 552–557Google Scholar
  11. 11.
    N.E. Leonard, J.G. Graver, Model-based feedback control of autonomous underwater gliders. IEEE J. Oceanic Eng. 26(4), 633–645 (2001)CrossRefGoogle Scholar
  12. 12.
    K. Lei, Z. Yuwen, Y. Hui, C. Zhikun, MATLAB-based simulation of buoyancy-driven underwater glider motion. J. Ocean Univ. China 7(1), 133–188 (2008)Google Scholar
  13. 13.
    Y. Wang, H. Zhang, S. Wang, in Trajectory Control Strategies for the Underwater Glider, Proceedings of International Conference on Measuring Technology and Mechatronics Automation (IEEE Press, New York, 2009), pp. 918–921Google Scholar
  14. 14.
    B.-H. Jun, J.-Y. Park, F.-Y. Lee, P.-M. Lee, C.-M. Lee, K. Kim, Y.-K. Lim, J.-H. Oh, Development of the AUV ‘ISiMI’ and free running test in an ocean engineering basin. J. Ocean Eng. 36(1), 2–14 (2009)zbMATHCrossRefGoogle Scholar
  15. 15.
    H. Yang, J. Ma, in Sliding Mode Tracking Control of an Autonomous Underwater Glider. Proceedings of International Conference on Computer Application and System Modeling (ICCASM 2010) (2010), pp. 555–558Google Scholar
  16. 16.
    A. Budiyono, Advances in unmanned underwater vehicles technologies: Modeling, control and guidance perspectives. Indian J. Geo-Mar. Sci. 38(3), 282–295 (2009)Google Scholar
  17. 17.
    A. Reza, A. A. Khayyat, K. G. Osgouie, in Neural Networks Control of Autonomous Underwater Vehicle, Proceedings of International Conference on Mechanical and Electronics Engineering (ICMEE 2010) (2010), vol. 2, pp. 117–121Google Scholar
  18. 18.
    K. Isa, M. R. Arshad, in Vertical Motion Simulation and Analysis of USM Underwater Glider, Proceedings of the 5th International Conference on Automation, Robotics and Applications, 2011, pp. 139–144Google Scholar
  19. 19.
    K. Isa, M. R. Arshad, inDynamic Modeling and Characteristics Estimation for USM Underwater Glider, Proceedings of IEEE Control and System Graduate Research Colloquium (ICSGRC) Incorporating the International Conference on System Engineering and Technology (ICSET, 2011) (2011), pp. 12–17Google Scholar
  20. 20.
    W. Wei, C. M. Clark, in Modeling and Simulation of the VideoRay Pro III Underwater Vehicle, Proceedings of OCEANS 2006 (IEEE Press, New York, 2006), pp. 283–287Google Scholar
  21. 21.
    Y. Li, L. Jian-Cheng, S. Ming-Xue, Dynamics model of underwater robot motion control in 6 degrees of freedom. J. Harbin Inst. Technol. 12(4), 456–459 (2005)Google Scholar
  22. 22.
    F. Song, P. Edgar An, A. Folleco, Modeling and simulation of autonomous underwater vehicles: Design and implementation. IEEE J. Oceanic Eng. 28(2), 283–296 (2003)CrossRefGoogle Scholar
  23. 23.
    J.G. Graver, Underwater Gliders: Dynamics, Control and Design, Dissertation, Princeton University, 2005Google Scholar
  24. 24.
    N. Mahmoudian, Efficient Motion Planning and Control for Underwater Gliders, Dissertation, Virginia Polytechnic Institute and State University, 2009Google Scholar
  25. 25.
    T.I. Fossen, Marine Control Systems: Guidance, Navigation and Control of Ships, Rigs and Underwater Vehicles (Marine Cybernatics, Trondheim, 2002)Google Scholar
  26. 26.
    W.J. Pepijn, T.A. Johansen, A.J. Sorensen, C. Flanagan, D. Toal, Neural networks augmented identification of underwater vehicle models. J. Control Eng. Pract. 15, 715–725 (2007). ELSEVIERCrossRefGoogle Scholar
  27. 27.
    W.J. Pepijn, C. Flanagan, D. Toal, Neural network control of underwater vehicles. J. Eng. Appl. Artif. Intell. 18, 533–547 (2005). ELSEVIERCrossRefGoogle Scholar
  28. 28.
    J.H. Li, P.M. Lee, A neural network adaptive controller design for free-pitch- angle diving behavior of an autonomous underwater vehicle. J. Robot. Auton. Syst. 52, 132–147 (2005). ELSEVIERCrossRefGoogle Scholar
  29. 29.
    K. Ishii, T. Ura, An adaptive neural-net controller system for an underwater vehicle. J. Control Eng. Pract. 8, I77–I184 (2000). ELSEVIERGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Underwater Robotics Research Group (URRG)School of Electrical and Electronic Engineering, Engineering Campus, Universiti Sains Malaysia (USM)Pulau PinangMalaysia

Personalised recommendations