University of Tasmania
Browse

File(s) under permanent embargo

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

conference contribution
posted on 2023-05-23, 13:48 authored by Minh TranMinh Tran, Hung NguyenHung Nguyen
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.

History

Publication title

Proceedings of the First International Conference on Fluid Machinery and Automation Systems 2018

Editors

NT Mich, VV Truong

Pagination

238-245

Department/School

Australian Maritime College

Publisher

Bach Khoa Publishing House

Place of publication

Vietnam

Event title

First International Conference on Fluid Machinery and Automation Systems 2018

Event Venue

Hanoi, Vietnam

Date of Event (Start Date)

2018-10-27

Date of Event (End Date)

2018-10-28

Rights statement

Copyright unknown

Repository Status

  • Restricted

Socio-economic Objectives

Other transport not elsewhere classified