Identification and Validation of a Lagrangian Nonlinear Maneuvering and Seakeeping Model
Abstract
Abstract The proposed project aims to finalize the theoretical and practical implementation of a novelLagrangian nonlinear maneuvering and seakeeping (LNMS) model for the state estimation andcontrol of submerged vessels operating near a wavy free surface. The theoretical andexperimental effort described in the proposal intends to continue and complete the developmentinitiated by a recent international collaboration on submarine maneuvering in a seaway,organized by DST, under the auspices of The Technical Cooperation Program (TTCP). ONRsupported Virginia Techs component of this effort under Grants No. N00014-14-1-0651 and No.N00014-16-1-2749.The purpose of the new research is twofold: (i) to extend earlier theoretical results by relaxingthe critical assumption of a linear free surface boundary condition (FSBC) and (ii) to apply thetheory in practice for near-surface maneuvering of a survey class autonomous under watervehicle (AUV).The well integrated theoretical, computational, and experimental research program articulatedin the proposal aims to expand the utility of the LNMS model for model-based control andestimation and to demonstrate this utility with a mature and accessible platform, VirginiaTechs 690 AUV, developed by the Autonomous Systems and Control Laboratory (ASCL),with which PI Brizzolara is affiliated, the VT-690-AUV is fully instrumented and regularly usedin the ocean sensing field campaigns by Virginia Tech and the US Navy, among others.In the proposed effort, we will first relax the linearized FSBC adopted in Batista et al. (2018) tomore accurately account for the kinematic and dynamic conditions imposed by free surfacedeformations. In parallel, we will compute the parameters of the LNMS model for the 690 AUVusing the methodology established in Jung et al. (2019) and using experimental systemidentification techniques to correct for unmodeled physics such as propulsion and viscousfriction. We will then validate the LNMS model in a series of ad hoc aggressive, near-surfacemaneuvers in the field, with accurate measurement of the vehicle kinematic parameters and seastate conditions. Finally, we will validate the LNMS model in a controlled environment such asan ocean wave basin, where specific sea state conditions and encountering angles can beprescribed.This research supports Mission Capable, Persistent and Survivable Sea Platforms, throughadvancements in the fundamental theory of intelligent control and hydro, electro andcomputational mechanics and Undersea Battlespace and Maritime Domain Access, byenhancing our capability for core naval missions in antisubmarine warfare (ASW), minewarfare (MIW), explosive ordnance disposal, and naval special warfare. More broadly, theproposed basic research effort is well aligned with the DoD s objective of increased efficiencyand effectiveness of autonomy.
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Jun 17, 2020
- Source ID
- N000142012621
Entities
People
- Stefano Brizzolara
Organizations
- Office of Naval Research
- United States Navy
- Virginia Tech