Chaotic Oscillations in Dynamic Positioning of Teleoperated Underwater Vehicles Subject to Wave and Current Perturbations
نویسندگان
چکیده
This paper is concerned with the study of nonlinear oscillations in servotracking control systems for the teleoperation of ROVs subject to strong currents and harmonic waves. Particularly, the case of variable cable length during tactics on the sea bottom such as sea bottom scanning and systematic grab sampling are analyzed. The route to chaos from predictable period-one oscillations is studied using the cable length magnitude and rate, the current intensity, and wave amplitude and frequency as main bifurcation parameters.
منابع مشابه
Parallel implementation of underwater acoustic wave propagation using beamtracing method on graphical processing unit
The mathematical modeling of the acoustic wave propagation in seawater is the basis for realizing goals such as, underwater communication, seabed mapping, advanced fishing, oil and gas exploration, marine meteorology, positioning and explore the unknown targets within the water. However, due to the existence of various physical phenomena in the water environment and the various conditions gover...
متن کاملInvestigation on Nose and Tail Shape Effects on Hydrodynamic Parameters in Autonomous Underwater Vehicles
Development of autonomous underwater vehicles (AUVs) which meets the design constraints and provides the best hydrodynamic performance is really an important challenge in the field of hydrodynamics. In this paper a new profile is used for designing the hull of AUVs. The nose and tail profiles of an AUV using presented profile is designed such that it can properly consider the length constraints...
متن کاملDynamic Positioning of Underwater Robotic Vehicles with Thruster Dynamics Compensation
The development of accurate control systems for underwater robotic vehicles relies on the adequate compensation of thruster dynamics. Without compensation, the closed-loop positioning system can exhibit limit cycles. This undesired behaviour may compromise the overall system stability. In this work, a fuzzy sliding-mode compensation scheme is proposed for electrically actuated bladed thrusters,...
متن کاملIdentification of an Autonomous Underwater Vehicle Dynamic Using Extended Kalman Filter with ARMA Noise Model
In the procedure of designing an underwater vehicle or robot, its maneuverability and controllability must be simulated and tested, before the product is finalized for manufacturing. Since the hydrodynamic forces and moments highly affect the dynamic and maneuverability of the system, they must be estimated with a reasonable accuracy. In this study, hydrodynamic coefficients of an autonomous un...
متن کاملAdaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کامل