NISCAIR Online Periodicals Repository Community: IJMS Vol.41 [2012]

Stabilization of an underactuated X4-AUV using a discontinuous control law

Wed, 28 Nov 2012 22:58:59 GMT

Title: Stabilization of an underactuated X4-AUV using a discontinuous control law

Authors: Zain, Zainah Md.; Watanabe, Keigo; Izumi, Kiyotaka; Nagai, Isaku

Abstract: Present study consists the stabilization of a class of second-order nonholonomic systems in canonical chained form is investigated. We first derive the dynamic model of an underactuated X4-AUV with six degrees-of-freedom (DOF) and four thrusters using Lagrange approach. Then the system is written in control-affine form by applying a partial linearization technique and a dynamic controller based on Astolfi's discontinuous control is derived by transformations of coordinate and input to obtain globally asymtotically stable response. A simulation is conducted to demonstrate the effectiveness of the present approach to controlling the origin of the system.

Page(s): 589-598

A calibration framework for swarming ASVs’ system design

Wed, 28 Nov 2012 22:58:59 GMT

Title: A calibration framework for swarming ASVs’ system design

Authors: Abidin, Z Z; Hamzah, M S M; Arshad, M R; Ngah, U K

Abstract: This paper is concerned with the virtual simulation of Autonomous Surface Vessels (ASVs) named, Drosobots, using virtual simulation software i.e. Webots™, and the pre-deployment in a swimming pool environment based on an improved simplest navigation technique. Swimming pool provides as a controlled calibration framework for the proposed swarming algorithm. The performance of the system is determined by firstly, its capability to allow the various robots to communicate amongst themselves in order to reach the desired location and secondly, the use of optimization in its searching strategy. By using basic theories of GPS steering, low-cost microcontroller and straightforward wireless communication method, a framework which takes into consideration both mechanical constraints in its physical setup and the suitability of control methods is presented. Swarming robots work as a team, propelled by slim-line water pump with cylindrical shape of body hull. In order to increase the robot’s buoyancy, high density foam has been added to the previous design and results of the new rudder simulation effect is also been presented. Due to the delay of the NMEAs data and the limitation of an 8-bit micro-controller, complex control has been deferred until sometime in the future.

Page(s): 581-588

Hardware-In-the-loop simulation platform for the design, testing and validation of autonomous control system for unmanned underwater vehicle

Wed, 28 Nov 2012 22:58:59 GMT

Title: Hardware-In-the-loop simulation platform for the design, testing and validation of autonomous control system for unmanned underwater vehicle

Authors: Kaliappan, Vishnu Kumar; Budiyono, Agus; Min, Dugki; Muljowidodo, K; SaptoAdiNugroho

Abstract: Significant advances in various relevant science and engineering disciplines have propelled the development of more advanced, yet reliable and practical underwater vehicles. A great array of vehicle types and applications has been produced along with a wide range of innovative approaches for enhancing the performance of unmanned underwater vehicle (UUV). These recent advances enable the extension of UUVs’ flight envelope comparable to that of manned vehicles. For undertaking longer missions, therefore more advanced control and navigation will be required to maintain an accurate position over larger operational envelope particularly when a close proximity to obstacles (such as manned vehicles, pipelines, underwater structures) is involved. In this case, a sufficiently good model is prerequisite of control system design. System evaluation and testing of unmanned underwater vehicles in certain environment can be tedious, time consuming and expensive. This paper, focused on developing dynamic model of UUV for the purpose of guidance and control. Along with this a HILS (Hardware-In-the-Loop Simulation) based novel framework for rapid construction of testing scenarios with embedded systems has been investigated. The modeling approach is implemented for the AUV Squid, an autonomous underwater vehicle that was designed, developed and tested by research team at Center for Unmanned System Studies at InstitutTeknologi Bandung.

Page(s): 575-580

Design and simulation analysis of flying trimaran USV

Wed, 28 Nov 2012 22:58:59 GMT

Title: Design and simulation analysis of flying trimaran USV

Authors: Muljowidodo, K.; Nugroho, Sapto Adi; Prayogo, Nico; Budiyono, Agus

Abstract: The coverage area and cruising speed are important design aspects of an unmanned surface vehicle (USV). Some conventional USVs have generally a constraint on maximum speed. This fact motivates the development of approaches for effective hull design in some earlier USVs developed at the Center for Unmanned System Studies–Institut Teknologi Bandung. The design approach with the new propulsion system and control surface is featured in the present USV. This paper presents the design and operation analysis of flying catamaran USV. The design was focused on the propulsion and distribution of hydrodynamic and aerodynamic loads on the vehicle wherein computational fluid dynamics method was used as the main analysis tool.

Page(s): 569-574