Under-Actuated Autonomous Hovering design and study for the Autonomous Underwater Helicopter

Rendong Feng; Xinyi Xie; Shijie Xu; Haocai Huang

doi:10.23919/OCEANS44145.2021.9706036

Under-Actuated Autonomous Hovering design and study for the Autonomous Underwater Helicopter

Rendong Feng, Xinyi Xie, Shijie Xu, Haocai Huang

Zhejiang University

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

2 Citations (Scopus)

Abstract

We propose a hovering control algorithm for the under-actuated autonomous underwater helicopter (AUH). For the under-actuated position subsystem, the roll angle and pitch angle are designed as virtual bounded control inputs. The under-actuated part of the system is constructed into a closed-loop system with global stability. In the presence of external interference, the fuzzy PID controller is used to design the system attitude subsystem controller, and the Lyapunov theory is used to prove the global asymptotic stability of the entire closed-loop system. The comparison of simulation and experiment verifies the robustness and stability of the proposed algorithm.

Original language	English
Title of host publication	OCEANS 2021
Subtitle of host publication	San Diego - Porto
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9780692935590
DOIs	https://doi.org/10.23919/OCEANS44145.2021.9706036
Publication status	Published - 2021
Externally published	Yes
Event	OCEANS 2021: San Diego - Porto - San Diego, United States Duration: 20 Sept 2021 → 23 Sept 2021

Publication series

Name	Oceans Conference Record (IEEE)
Volume	2021-September
ISSN (Print)	0197-7385

Conference

Conference	OCEANS 2021: San Diego - Porto
Country/Territory	United States
City	San Diego
Period	20/09/21 → 23/09/21

Keywords

Autonomous Underwater helicopter
Fuzzy PID
Under-actuated hovering control

Access to Document

10.23919/OCEANS44145.2021.9706036

Cite this

@inproceedings{c9987c615a38480faa3dc4b3dce11a4c,

title = "Under-Actuated Autonomous Hovering design and study for the Autonomous Underwater Helicopter",

abstract = "We propose a hovering control algorithm for the under-actuated autonomous underwater helicopter (AUH). For the under-actuated position subsystem, the roll angle and pitch angle are designed as virtual bounded control inputs. The under-actuated part of the system is constructed into a closed-loop system with global stability. In the presence of external interference, the fuzzy PID controller is used to design the system attitude subsystem controller, and the Lyapunov theory is used to prove the global asymptotic stability of the entire closed-loop system. The comparison of simulation and experiment verifies the robustness and stability of the proposed algorithm.",

keywords = "Autonomous Underwater helicopter, Fuzzy PID, Under-actuated hovering control",

author = "Rendong Feng and Xinyi Xie and Shijie Xu and Haocai Huang",

note = "Publisher Copyright: {\textcopyright} 2021 MTS.; OCEANS 2021: San Diego - Porto ; Conference date: 20-09-2021 Through 23-09-2021",

year = "2021",

doi = "10.23919/OCEANS44145.2021.9706036",

language = "English",

series = "Oceans Conference Record (IEEE)",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "OCEANS 2021",

}

Feng, R, Xie, X, Xu, S & Huang, H 2021, Under-Actuated Autonomous Hovering design and study for the Autonomous Underwater Helicopter. in OCEANS 2021: San Diego - Porto. Oceans Conference Record (IEEE), vol. 2021-September, Institute of Electrical and Electronics Engineers Inc., OCEANS 2021: San Diego - Porto, San Diego, United States, 20/09/21. https://doi.org/10.23919/OCEANS44145.2021.9706036

Under-Actuated Autonomous Hovering design and study for the Autonomous Underwater Helicopter. / Feng, Rendong; Xie, Xinyi; Xu, Shijie et al.
OCEANS 2021: San Diego - Porto. Institute of Electrical and Electronics Engineers Inc., 2021. (Oceans Conference Record (IEEE); Vol. 2021-September).

Research output: Chapter in Book or Report/Conference proceeding › Conference Proceeding › peer-review

TY - GEN

T1 - Under-Actuated Autonomous Hovering design and study for the Autonomous Underwater Helicopter

AU - Feng, Rendong

AU - Xie, Xinyi

AU - Xu, Shijie

AU - Huang, Haocai

PY - 2021

Y1 - 2021

N2 - We propose a hovering control algorithm for the under-actuated autonomous underwater helicopter (AUH). For the under-actuated position subsystem, the roll angle and pitch angle are designed as virtual bounded control inputs. The under-actuated part of the system is constructed into a closed-loop system with global stability. In the presence of external interference, the fuzzy PID controller is used to design the system attitude subsystem controller, and the Lyapunov theory is used to prove the global asymptotic stability of the entire closed-loop system. The comparison of simulation and experiment verifies the robustness and stability of the proposed algorithm.

AB - We propose a hovering control algorithm for the under-actuated autonomous underwater helicopter (AUH). For the under-actuated position subsystem, the roll angle and pitch angle are designed as virtual bounded control inputs. The under-actuated part of the system is constructed into a closed-loop system with global stability. In the presence of external interference, the fuzzy PID controller is used to design the system attitude subsystem controller, and the Lyapunov theory is used to prove the global asymptotic stability of the entire closed-loop system. The comparison of simulation and experiment verifies the robustness and stability of the proposed algorithm.

KW - Autonomous Underwater helicopter

KW - Fuzzy PID

KW - Under-actuated hovering control

UR - http://www.scopus.com/inward/record.url?scp=85125943933&partnerID=8YFLogxK

U2 - 10.23919/OCEANS44145.2021.9706036

DO - 10.23919/OCEANS44145.2021.9706036

M3 - Conference Proceeding

AN - SCOPUS:85125943933

T3 - Oceans Conference Record (IEEE)

BT - OCEANS 2021

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - OCEANS 2021: San Diego - Porto

Y2 - 20 September 2021 through 23 September 2021

ER -

Under-Actuated Autonomous Hovering design and study for the Autonomous Underwater Helicopter

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this