A Maneuvering Model for an Underwater Vehicle Near a Free Surface—Part III: Simulation and Control Under Waves

Authors

Francis Valentinis, Thomas Battista, Craig Woolsey

Abstract

This article incorporates free-surface and ambient wave effects into a nonlinear parametric model. Subsequently, its use is demonstrated via simulation of a scale model submarine maneuvering under the control of a nonlinear depth-keeping control system in a seaway. An energy-based model is presented, which represents the underactuated submarine in a free-surface-affected state. This model is then used to synthesize a control law using port-Hamiltonian theory and interconnection and damping assignment passivity-based control. The Lyapunov analysis is used to study the stability of the closed-loop system, and a simulation-based demonstration illustrates the performance of the control law. The results demonstrate that a closed-loop nonlinear controller is able to improve the quality of near-surface depth keeping by automatically compensating for parasitic effects in the hydrodynamics that can compromise depth-keeping performance during maneuvers.

Citation

• Journal: IEEE Journal of Oceanic Engineering
• Year: 2023
• Volume: 48
• Issue: 3
• Pages: 752–777
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• DOI: 10.1109/joe.2023.3234811

BibTeX

@article{Valentinis_2023,
  title={{A Maneuvering Model for an Underwater Vehicle Near a Free Surface—Part III: Simulation and Control Under Waves}},
  volume={48},
  ISSN={2373-7786},
  DOI={10.1109/joe.2023.3234811},
  number={3},
  journal={IEEE Journal of Oceanic Engineering},
  publisher={Institute of Electrical and Electronics Engineers (IEEE)},
  author={Valentinis, Francis and Battista, Thomas and Woolsey, Craig},
  year={2023},
  pages={752--777}
}

Download the bib file

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