Nonlinear control of a subscale submarine in emergency ascent

Authors

Francis Valentinis, Craig Woolsey

Abstract

This paper presents a nonlinear parametric model and proof-of-concept motion control system for a scale model submarine undertaking an emergency ascent. An energy-based model is presented that represents the underactuated submarine in a non-neutrally buoyant state. This model is then used to synthesize a control law using Port-Hamiltonian theory and interconnection and damping assignment passivity-based control. Lyapunov analysis is used to demonstrate stability of the closed-loop system, and a simulation-based study is presented to demonstrate performance of the control law. The results demonstrate that a closed loop non-linear controller is able to improve the quality of emergency rise by automatically compensating for some parasitic effects in the hydrodynamics that can compromise ascent performance.

Keywords

Submarine dynamics; Submarine control; Underactuated; Non-neutral buoyancy; Nonlinear systems; Energy-based control; Port-Hamiltonian systems

Citation

• Journal: Ocean Engineering
• Year: 2019
• Volume: 171
• Issue:
• Pages: 646–662
• Publisher: Elsevier BV
• DOI: 10.1016/j.oceaneng.2018.11.029

BibTeX

@article{Valentinis_2019,
  title={{Nonlinear control of a subscale submarine in emergency ascent}},
  volume={171},
  ISSN={0029-8018},
  DOI={10.1016/j.oceaneng.2018.11.029},
  journal={Ocean Engineering},
  publisher={Elsevier BV},
  author={Valentinis, Francis and Woolsey, Craig},
  year={2019},
  pages={646--662}
}

Download the bib file

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