Improving Response Performance of Quadrant-detector-navigated Unmanned Underwater Vehicle in Underwater Docking Operatio
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Improving Response Performance of Quadrant-detector-navigated Unmanned Underwater Vehicle in Underwater Docking Operations Olamide Akinyele, Jae Weon Choi*, and Chang Ho Yu Abstract: This paper proposes the use of a gyrostabilizer to improve the response performance of an unmanned underwater vehicle navigated by a quadrant detector (QD) in shallow water docking operations under the influence of ocean disturbances. Reference tracking and disturbance attenuation were investigated with and without delayed response from the gyroscope. The control methodologies examined are combinations of forward Riccati and passive control, forward Riccati and proportional-derivative (PD) control, and forward Riccati and penalty function control. Forward Riccati control is applied to the yaw-pitch dynamics for command tracking, while gyro-dynamics control for disturbance attenuation is achieved using passive, PD, and penalty function controls. Overall, the forward Riccati and penalty function control method showed desired performance because the gyro-precession workspace was maintained within actuation limits while operating within a region of dominant precession spin or control. Keywords: Backward-in-time, forward-in-time, gyrostabilizer, laser beam, precession, quadrant detector.
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INTRODUCTION
Unmanned underwater vehicles (UUVs) have become a major subject of research in the ocean community. This is due to their various applications in the undersea environment. These applications include underwater pipe tracking, military operations, undersea data acquisition, underwater inspection of estuaries and harbors, long range surveys and so on. In order for a UUV to successfully carry out underwater operations, it is necessary for it to have the capability to track reference trajectories and signals, and perform expected maneuverings in worst case scenarios due to ocean currents, wind, and waves. In a situation in which it is necessary for a UUV to stay longer in the sea environment to perform repeated missions, docking systems are required to increase UUV capability by recharging the batteries for efficient data transmission in realtime. Several methodologies have been employed over the years for positioning and maneuvering of UUVs for docking operations. Lee et al. [1] developed a visual servo system that incorporates the use of a camera mounted on the nose of UUV ISiMI, and lights installed at the circumference of the entrance of the docking beacon. The projected target position on the charged-coupled device (CCD) plane is the control input that navigates the UUV to the docking beacon. The drawbacks of this approach
are that system performance can be affected in shallow water docking operations when the ocean environment is highly turbid, and that camera image (light) processing capability is ineffective due to the long docking range between the vehicle and the beacon. This means that camera image processing ability is only effective within a short range during hard dock
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