Optimal and Robust Nonlinear Control Strategies for Low-speed and Near-surface maneuvering of Underwater Vehicles
Abstract
This research project focuses on the development, implementation and validation of nonlinear robust controllers for underwater vehicles. Computational Fluid Dynamics (CFD) simulations will be employed to derive vehicle dynamic models. The primary geometry considered in this project will be the generic submarine Joubert BB2, and will be used as a basis to design and evaluate control algorithms. Nonlinear controllers will be designed to exhibit optimality and robustness properties in the presence of unmodeled dynamics, uncertainties, and disturbance. Particular emphasis will be placed on controller design for depth change and controlled turn maneuvers in two particularly adverse conditions, namely near-surface operation and low-speed maneuvering.The controller will be designed and developed by combining efforts in approximation theory and direct methods for optimal control, as well as robust and adaptive control theory. The solution will be tested using the code REX, developed at The University of Iowa, which offers a unique platform to perform advanced evaluation of the controller~s performance, by resolving the physics of the hydrodynamics and body motions of the underwater vehicles under investigation while accurately implementing the proposed control architecture.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Apr 24, 2019
- Source ID
- N000141912106
Entities
People
- Venanzio Cichella
Organizations
- Office of Naval Research
- United States Navy
- University of Iowa