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Neural networks based control for an autonomous underwater vehicle equipped with the collective and cyclic pitch propeller

Citation

Tran, MQ and Nguyen, HD, Neural networks based control for an autonomous underwater vehicle equipped with the collective and cyclic pitch propeller, Proceedings of the First International Conference on Fluid Machinery and Automation Systems 2018, 27-28 October 2018, Hanoi, Vietnam (2018) [Refereed Conference Paper]


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Official URL: http://ste.hust.edu.vn/icfmas2018/

Abstract

This paper presents a neural network controller for an autonomous underwater vehicle (AUV) equipped with an innovative collective and cyclic pitch propeller (CCPP). The AUV equipped with a CCPP consists of a new type of propulsion system based on the principle of a helicopter rotor. The dynamics of the AUV with CCPP is briefly described for control design. The main objective of the proposed neural networks based control algorithm is to move the AUV in all directions using only one CCPP with a shaft speed, collective pitch and cyclic angles by carrying out various underwater mission manoeuvres. The proposed control algorithm is applied for numerical simulation study using the recently developed mathematical models of an observation class underwater vehicle platform, namely Gavia, equipped with a CCPP. The work in this paper is a continuity on verification of capability of the AUV with CCPP to move in all directions. The simulation results demonstrate the good performance in the course keeping, changing and trajectory tracking controls using neural network based control algorithm.

Item Details

Item Type:Refereed Conference Paper
Keywords:autonomous underwater vehicle, collective and cyclic pitch propeller, neural networks, control and simulation
Research Division:Engineering
Research Group:Maritime Engineering
Research Field:Special Vehicles
Objective Division:Transport
Objective Group:Other Transport
Objective Field:Transport not elsewhere classified
UTAS Author:Tran, MQ (Mr Minh Tran)
UTAS Author:Nguyen, HD (Dr Hung Nguyen)
ID Code:129584
Year Published:2018
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2018-12-07
Last Modified:2019-01-08
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