Skip to main content
SpringerLink
Log in

AUV/ROV/HOV Control Systems

  • Living reference work entry
  • First Online:
Encyclopedia of Ocean Engineering

  • 305 Accesses

Synonyms

Automatic control system; Control approach; Control device; Control module; Control unit; Controller; Motion control system

Definition

Control system is a kind of active regulation system designed to improve or optimize specific performance or indictors for economic, social, or physical systems. AUV/ROV/HOV belongs to a multi-degree-of-freedom underwater platform system with high redundancy, coupling, and model nonlinearity. It works underactuated in complex underwater environment, and the body must maintain autonomous stability in the process of operation. Therefore, the design of appropriate control system to ensure the stability of the underwater platform during the operational process is of great significance to the successful and accurate completion of the underwater mission of AUV/ROV/HOV.

Scientific Fundamentals

Difficulties in the Design of Control System

Underwater vehicles have a large variety of types, and they are widely involved in undersea surveillance,...

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

References

  • Ali J, Mirza MRUB (2010) Performance comparison among some nonlinear filters for a low cost SINS/GPS integrated solution. Nonlinear Dyn 61(3):491–502

    Article  Google Scholar 

  • Ansari U, Bajodah AH (2017) Robust generalized dynamic inversion control of autonomous underwater vehicles. IFAC-PapersOnLine 50(1):10658–10665

    Article  Google Scholar 

  • Bajodah A (2009) Generalised dynamic inversion spacecraft control design methodologies. IET Control Theory Appl 3(2):239–251

    Article  MathSciNet  Google Scholar 

  • Bajodah A (2010) Asymptotic generalised dynamic inversion attitude control. IET Control Theory Appl 4(5):827–840

    Article  MathSciNet  Google Scholar 

  • Bao J, Li D, Qiao X, Rauschenbach T (2019) Integrated navigation for autonomous underwater vehicles in aquaculture: a review. Inf Proces Agric. https://doi.org/10.1016/j.inpa.2019.04.003. Accepted Manuscript

  • Clement B, Rui Y, Mansour A, Ming L (2016) A modeling and control approach for a cubic AUV. IFAC-PapersOnLine 49(23):279–284

    Article  Google Scholar 

  • Gui H, Jin L, Xu S (2013) Attitude maneuver control of a two-wheeled spacecraft with bounded wheel speeds. Acta Astronaut 88:98–107

    Article  Google Scholar 

  • Hameduddin I, Bajodah AH (2012) Nonlinear generalised dynamic inversion for aircraft manoeuvring control. Int J Control 85(4):437–450

    Article  MathSciNet  Google Scholar 

  • Khodayari M, Balochian S (2015) Modeling and control of autonomous underwater vehicle (AUV) in heading and depth attitude via self-adaptive fuzzy PID controller. J Mar Sci Technol, 20(3):559–578

    Article  Google Scholar 

  • Kim M, Joe H, Kim J, Yu SC (2015) Integral sliding mode controller for precise manoeuvring of autonomous underwater vehicle in the presence of unknown environmental disturbances. Int J Control, 88(10):2055–2065

    Article  MathSciNet  Google Scholar 

  • Kussat NH, Chadwell CD, Zimmerman R (2005) Absolute positioning of an autonomous underwater vehicle using GPS and acoustic measurements. IEEE J Ocean Eng 30(1):153–164

    Article  Google Scholar 

  • Lakhekar GV, Waghmare LM, Londhe PS (2015) Enhanced dynamic fuzzy sliding mode controller for autonomous underwater vehicles. In 2015 IEEE Underwater Technology (UT) (pp. 1–7). IEEE

    Google Scholar 

  • Liu X, Xu X, Liu Y, Wang L (2014) Kalman filter for cross-noise in the integration of SINS and DVL. Math Probl Eng 2014:1–8

    MathSciNet  MATH  Google Scholar 

  • Paull L, Saeedi S, Seto M, Li H (2014) AUV navigation and localization: a review. IEEE J Ocean Eng 39(1):131–149

    Article  Google Scholar 

  • Smallwood D, Bachmayer H, Whitcomb L (1999) A new remotely operated underwater vehicle for dynamics and control research. In: Proceedings of the 11th international symposium on unmanned untethered submersible technology, Durham, pp 370–377

    Google Scholar 

  • Steinicke A, Michalka G (2002) Improving transient performance of dynamic inversion missile autopilot by use of backstepping. In: AIAA guidance, navigation, and control conference and exhibit, Monterey

    Google Scholar 

  • Stutters L, Liu H, Tillman C, Brown DJ (2008) Navigation technologies for autonomous underwater vehicles. IEEE T Syst Man Cy C 38(4):581–589

    Article  Google Scholar 

  • Vasilijevic A, Borovic B, Vukic Z (2012) Underwater vehicle localization with complementary filter: performance analysis in the shallow water environment. J Intell Robot Syst 68(3–4):373–386

    Article  Google Scholar 

  • Wang Z, Liu L, Wang, Y, Wang Z. (2012) Dynamic integral sliding mode for launch vehicle attitude control system. In 2012 24th Chinese Control and Decision Conference (CCDC). Chengdu, China. IEEE. 1713–1718

    Google Scholar 

  • Williams S, Newman P, Majumder S, Rosenblatt J, Durrant-Whyte H (1999) Autonomous transect surveying of the great barrier reef. In Proc. Australian Conf. on Robotics and Automation, 16–20

    Google Scholar 

  • Williams SB, Newman P, Dissanayake G, Rosenblatt J, Durrant-Whyte H (2006) A decoupled, distributed AUV control architecture. In: International symposium on robotics, vol 31, pp 246–251

    Google Scholar 

  • Yang I, Byun S, Seo B, Lee D, Han DS (2013) Robust dynamic inversion based on sliding mode control for autonomous underwater vehicles. Intell Auton Veh 8:79–84

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. School of Engineering, Westlake University, Hangzhou, China

    Changhui Song

Authors
  1. Changhui Song
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Changhui Song .

Editor information

Editors and Affiliations

  1. Hadal Science and Technology Research Center, Shanghai Ocean University, Shanghai, China

    Weicheng Cui

  2. School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University , Shanghai, China

    Shixiao Fu

  3. School of Marine Science and Technology, Newcastle University , Newcastle, UK

    Zhiqiang Hu

Section Editor information

  1. School of Engineering, Westlake University, Hangzhou, Hubei province, China

    Changhui Song

Rights and permissions

Reprints and permissions

Copyright information

© 2019 Springer Nature Singapore Pte Ltd.

About this entry

Check for updates. Verify currency and authenticity via CrossMark

Cite this entry

Song, C. (2019). AUV/ROV/HOV Control Systems. In: Cui, W., Fu, S., Hu, Z. (eds) Encyclopedia of Ocean Engineering. Springer, Singapore. https://doi.org/10.1007/978-981-10-6963-5_282-1

Download citation

  • DOI: https://doi.org/10.1007/978-981-10-6963-5_282-1

  • Received:

  • Accepted:

  • Published:

  • Publisher Name: Springer, Singapore

  • Print ISBN: 978-981-10-6963-5

  • Online ISBN: 978-981-10-6963-5

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

Publish with us

Policies and ethics

Search

Navigation