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Related Experiment Video

Updated: Jun 19, 2025

Experimental Investigation of the Flow Structure over a Delta Wing Via Flow Visualization Methods

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Published on: April 23, 2018

Hydrodynamic analysis and manipulation control on a streamlined I-AUV.

Hai Huang¹, Xinyu Bian¹, Tao Jiang¹

¹National Key Laboratory of Autonomous Marine Vehicle Technology, Harbin Engineering University, Harbin 150001, China.

ISA Transactions

|July 24, 2024

Summary

This summary is machine-generated.

This study details hydrodynamics analysis and control for autonomous underwater vehicles (AUVs) performing seabed operations. A new controller enhances manipulation by analyzing environmental forces, validated through simulations and experiments.

Keywords:

Computation fluid dynamics Hydrodynamic analysis I-AUV manipulation Sliding mode control

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Area of Science:

Robotics and Control Systems
Fluid Dynamics
Ocean Engineering

Background:

Seabed operations require precise control of autonomous underwater vehicles (AUVs).
Intelligent manipulation by streamlined intervention AUVs (I-AUVs) is crucial for complex underwater tasks.
Understanding hydrodynamic forces is essential for effective AUV control.

Purpose of the Study:

To analyze the hydrodynamics of streamlined I-AUVs during manipulation.
To develop a novel controller for enhanced underwater floating manipulation.
To quantify interaction forces between I-AUVs and their environment.

Main Methods:

Computational Fluid Dynamics (CFD) simulations were performed, considering factors like water channel domain, mesh insensitivity, and free surface effects.
Dynamic manipulation states of streamlined I-AUVs were simulated to determine hydrodynamic coefficient trends.
A new controller integrating a nonlinear sliding mode surface with an integral and a disturbance observer was developed.

Main Results:

The study obtained the variation trends of hydrodynamic coefficients during I-AUV manipulation.
A disturbance observer was implemented to quantify environmental interaction forces based on hydrodynamic analysis.
Simulations and experimental results confirmed the effectiveness of the developed controller.

Conclusions:

The developed controller significantly improves the underwater floating manipulation capabilities of I-AUVs.
Hydrodynamic analysis and disturbance observation are key to precise control in complex marine environments.
The findings contribute to the advancement of intelligent seabed operations using AUVs.