{"title":"Dynamic Modeling of Unmanned Underwater Vehicles with Online Disturbance Compensation Scheme","authors":"S. Azid, Utkal Mehta, Adarsh Kuar, Zahid Ali","doi":"10.1155/2024/1996159","DOIUrl":null,"url":null,"abstract":"With the advancement in robotics technology over the recent years, underwater robots’ design and development are gaining interest. Unmanned underwater vehicles (UUVs) have many applications in aquaculture, deep-sea exploration, research, and enhanced rescue tasks. However, various factors must be considered when developing any underwater vehicle system to explore the deep ends of the underwater world. In this paper, we develop the most suitable model for understanding various system parameters. The new mathematical model considers certain constraints and external disturbances exerted on the system. Also, a control strategy is suggested for the UUV’s stability and robustness. The suggested observer and model are simple, allowing for accurate estimations of all system states and the global impacts of unknown limped perturbations with a minimal computational cost.","PeriodicalId":51834,"journal":{"name":"Journal of Robotics","volume":null,"pages":null},"PeriodicalIF":1.4000,"publicationDate":"2024-03-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Robotics","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1155/2024/1996159","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
With the advancement in robotics technology over the recent years, underwater robots’ design and development are gaining interest. Unmanned underwater vehicles (UUVs) have many applications in aquaculture, deep-sea exploration, research, and enhanced rescue tasks. However, various factors must be considered when developing any underwater vehicle system to explore the deep ends of the underwater world. In this paper, we develop the most suitable model for understanding various system parameters. The new mathematical model considers certain constraints and external disturbances exerted on the system. Also, a control strategy is suggested for the UUV’s stability and robustness. The suggested observer and model are simple, allowing for accurate estimations of all system states and the global impacts of unknown limped perturbations with a minimal computational cost.
期刊介绍:
Journal of Robotics publishes papers on all aspects automated mechanical devices, from their design and fabrication, to their testing and practical implementation. The journal welcomes submissions from the associated fields of materials science, electrical and computer engineering, and machine learning and artificial intelligence, that contribute towards advances in the technology and understanding of robotic systems.