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Optimal control of an autonomous underwater vehicle equipped with the collective and cyclic pitch propeller


Tran, M and Binns, J and Chai, S and Forrest, A and Nguyen, H, Optimal control of an autonomous underwater vehicle equipped with the collective and cyclic pitch propeller, Proceedings of the 2017 11th Asian Control Conference (ASCC), 17-20 December 2017, Gold Coast, Australia, pp. 354-359. ISBN 978-1-5090-1572-6 (2017) [Refereed Conference Paper]

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Copyright 2017 IEEE

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DOI: doi:10.1109/ASCC.2017.8287195


This paper aims to develop an optimal state feedback controller using the Linear Quadratic Regulator for an autonomous underwater vehicle equipped with an innovative collective and cyclic pitch propeller. This new type of propulsion system offers advantages such as good manoeuvrability for the torpedo shaped underwater vehicle at low speed operations. To develop the linear controller, the underwater vehicle general equations of motion are decoupled into non-interacting longitudinal and lateral subsystems in the form of linear state space models. The vehicle hydrodynamic coefficients and the propulsor dynamic model are derived using the system identification method and experiments in the towing tank. The control objectives are to maintain the autonomous underwater vehicle at desired depth and heading with the newly developed propulsor. The performance of the controller is demonstrated by simulation using MATLAB/SimulinkTM. The results show that the designed controller gives good performance and effectiveness in which the vehicle is able to follow the reference input signals.

Item Details

Item Type:Refereed Conference Paper
Keywords:autonomous underwater vehicle, collective and cyclic propeller, optimal control, simulation
Research Division:Engineering
Research Group:Maritime engineering
Research Field:Special vehicles
Objective Division:Transport
Objective Group:Water transport
Objective Field:Water transport not elsewhere classified
UTAS Author:Tran, M (Mr Minh Tran)
UTAS Author:Binns, J (Professor Jonathan Binns)
UTAS Author:Chai, S (Professor Shuhong Chai)
UTAS Author:Forrest, A (Dr Alexander Forrest)
UTAS Author:Nguyen, H (Dr Hung Nguyen)
ID Code:124188
Year Published:2017
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2018-02-13
Last Modified:2018-04-20

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