The paper presents a simple method of tuning a PD controller for controlling the depth of an autonomous underwater vehicle. The non-linear dynamics of the depth of the vehicle are linearised and approximated as an integrating process with deadtime. The PD controller tuning is then done using gain margin specifications. Keywords—Autonomous Underwater Vehicle, Dead-time, integrating process, PD c...

In recent years underwater robotics has become a major area of research owing to the development of many diverse technologies. Autonomous underwater vehicles (AUVs) are used today for exploration, pipeline monitoring, military reconnaissance and other scientific tasks. AUVs can also be used effectively to teach principles in many disciplines of science ranging from physics to robotics. Any good...

This paper proposes the result of hardware in the loop simulation (HILS) for performance evaluation about a small attitude heading reference system (AHRS) based micro electro mechanical system (MEMS) suitable for small unmanned underwater vehicle. Unmanned underwater vehicles (UUV) have many applications in scientific, military, and commercial area due to its autonomy and the navigation system ...

Reinforcement learning uses a scalar reward signal and much interaction with the environment to form a policy of correct behavior. We have applied this technique to the problem of developing a controller for an autonomous underwater vehicle and have achieved reliable off-line development of stable controllers. Many important underwater tasks rely upon on visual observation of underwater feature...

As a case study of a particular control methodology and as a practical contribution in the area of underwater vehicle control, we consider the problem of stabilizing an underwater vehicle using internal rotors as actuators. The control design method comprises three steps. The first step involves shaping the kinetic energy of the conservative dynamics. For the underwater vehicle, the control ter...

We present two reduced-dimensional, noncanonical Hamiltonian models for a neutrally buoyant underwater vehicle coupled to an internal moving mass. It is expected that these models will be useful in designing nonlinear control laws for underwater gliders as well as for spacecraft, atmospheric re-entry vehicles, and other vehicles which use internal moving mass actuators. To illustrate, we invest...

Bio-inspired vehicles are currently leading the way in the quest to produce a vehicle capable of flight and underwater navigation. However, a fully functional vehicle has not yet been realized. We present the first fully functional vehicle platform operating in air and underwater with seamless transition between both mediums. These unique capabilities combined with the hovering, high maneuverab...

A semi-autonomous unmanned underwater vehicle (UUV), named VSOR, is being developed at the Laboratory of Sensors and Actuators at the University of Sao Paulo. The vehicle has been designed to provide inspection and intervention capabilities in specific missions in deep water oil fields. This work presents a methodology to identify the drag coefficients and virtual mass/inertia of an open-frame ...

We describe preliminary work toward applying a goal reasoning agent for controlling an underwater vehicle in a partially observable, dynamic environment. In preparation for upcoming at-sea tests, our investigation focuses on a notional scenario wherein a autonomous underwater vehicle pursuing a survey goal unexpectedly detects the presence of a potentially hostile surface vessel. Simulations su...

This paper presents the design and experimental implementation of the L1 adaptive controller on a tethered underwater vehicle. This controller, well known for its fast adaptation and its robusntess, is for the first time applied in the field of underwater vehicle control. This paper summarizes the implementation and experimental results obtained on a modified version of the AC-ROV underwater ve...