Optimal Control of Underactuated Underwater Vehicles with Single Actuator

摘要

The research on underwater systems has gained an immense interest during the last decades with applications taken place in many fields such as exploration, investigation, repair, construction, etc. Hereby, control of underwater systems has emerged as a growing field of research. Underwater vehicles, in fact, accounted for 21% of the total number of service robots by the end of 2004, and are the most expensive class of service robots (UNECE/IFR, 2005). Typically, underwater vehicles can be divided into three underwater systems, namely, the manned submersibles, remotely operated vehicles (ROV) and autonomous underwater vehicles (AUV). ROVs and AUVs are mostly utilized in the oil and gas industries, and for scientific and military applications. AUVs, especially are of great importance due to their ability to navigate in abyssal zones without necessitating a tether that limits the range and maneuverability of the vehicle. However, their autonomy property directly affects the design of the control system. This requires advanced controllers and specific control schemes for given tasks. Almost all AUVs are six degrees-of-freedom (DOF) systems, and various types of actuator configurations are available in the industry for the vehicles ranging from fully-actuated vehicles to underactuated ones. The vehicle of interest here falls into the class of underactuated AUVs. Any mechanical system having fewer actuators than its degrees of freedom is defined as an underactuated system. Some examples of underactuated systems include manipulators; (