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Variable Structure Controller for Energy Savings in an Underwater Sensor Platform.

João Falcão Carneiro1,2, João Bravo Pinto2, Fernando Gomes de Almeida1,2

  • 1Instituto de Ciência e Inovação em Engenharia Mecânica e Engenharia Industrial, Faculdade de Engenharia, Universidade do Porto, Rua Dr. Roberto Frias, s/n, 4200-465 Porto, Portugal.

Sensors (Basel, Switzerland)
|September 14, 2024
PubMed
Summary
This summary is machine-generated.

A new variable structure controller for autonomous underwater vehicles significantly reduces energy consumption by 22% by intelligently managing buoyancy. This controller optimizes depth control, especially for variable buoyancy modules, despite minor impacts on performance.

Keywords:
autonomous underwater vehiclesdepth controlenergy savingsvariable buoyancyvariable structure controllers

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Area of Science:

  • Robotics
  • Control Systems
  • Ocean Engineering

Background:

  • Autonomous underwater vehicles (AUVs) require precise depth control for sensor platforms.
  • Variable buoyancy modules (VBMs) offer energy-efficient depth control but introduce complex dynamics.
  • Hull deformation and external weight changes pose significant disturbances to AUV depth control.

Purpose of the Study:

  • To develop and evaluate a novel variable structure controller (VSC) for AUV depth control.
  • To minimize energy consumption while maintaining effective depth regulation.
  • To address disturbances such as hull deformation and external weight variations.

Main Methods:

  • Development of a prototype linear model for the AUV with a VBM.
  • Estimation of hull deformation using a finite element-based method.
  • Design of a disturbance observer to manage internal and external system uncertainties.
  • Formulation of a VSC with energy-saving engagement/disengagement logic.
  • Comparative simulations against Proportional-Integral-Derivative (PID) controllers.

Main Results:

  • The proposed VSC achieved an average energy saving of 22% compared to the most efficient PID controller for VBM-actuated AUVs.
  • The disturbance observer effectively analyzed estimation errors related to system uncertainties.
  • Controller performance showed some trade-offs with energy savings, particularly in dynamic response.
  • Simulations validated the controller's effectiveness under various operating conditions for both VBM- and propeller-actuated vehicles.

Conclusions:

  • The developed VSC offers a promising approach for energy-efficient depth control in AUVs.
  • The controller's intelligent engagement strategy is key to its energy-saving capabilities.
  • Further research may focus on balancing energy efficiency with enhanced control performance for critical applications.