Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders
Underwater vehicles have capacity limits for control inputs, within which their time-optimal trajectories (TOTs) can be formulated. In this study, the fastest trajectory for the depth control of a hybrid underwater glider (HUG) was found using buoyancy engines and propellers individually, and the de...
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| Format: | Article |
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MDPI AG
2023-11-01
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| Series: | Journal of Marine Science and Engineering |
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| Online Access: | https://www.mdpi.com/2077-1312/11/12/2216 |
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| author | Mai The Vu Seong Han Kim Van P. Nguyen Nguyen Xuan-Mung Jiafeng Huang Dong-Wook Jung Hyeung-Sik Choi |
| author_facet | Mai The Vu Seong Han Kim Van P. Nguyen Nguyen Xuan-Mung Jiafeng Huang Dong-Wook Jung Hyeung-Sik Choi |
| author_sort | Mai The Vu |
| collection | DOAJ |
| description | Underwater vehicles have capacity limits for control inputs, within which their time-optimal trajectories (TOTs) can be formulated. In this study, the fastest trajectory for the depth control of a hybrid underwater glider (HUG) was found using buoyancy engines and propellers individually, and the decoupled heave dynamics of the HUG were defined using quadratic hydrodynamic damping. Because buoyancy engines always run at slow speeds, the buoyancy force was formulated based on the constant force rate of the engine. It was assumed that the nominal value of the heave dynamics parameters could be estimated; therefore, the analytical solution of heave dynamics could be formulated using the thrusting saturation and constant buoyancy force rate. Then, the shortest trajectory for depth control of the HUG could be established while considering the actuator saturation. To verify the effectiveness of the TOT in HUG heave dynamics, extensive tracking control simulations following the TOT were conducted. It was found that the proposed TOT helps the HUG reach the desired depth in the shortest arrival time, and its robust depth control showed good tracking performance in the presence of external bounded disturbances. |
| first_indexed | 2024-03-08T20:37:53Z |
| format | Article |
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| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-08T20:37:53Z |
| publishDate | 2023-11-01 |
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| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-78bc80c8ad1f40df88f6110307b47b4c2023-12-22T14:18:35ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-11-011112221610.3390/jmse11122216Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater GlidersMai The Vu0Seong Han Kim1Van P. Nguyen2Nguyen Xuan-Mung3Jiafeng Huang4Dong-Wook Jung5Hyeung-Sik Choi6Department of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Republic of KoreaDepartment of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Republic of KoreaFaculty of Engineering, Dong Nai Technology University, Bien Hoa City 76000, VietnamFaculty of Mechanical and Aerospace Engineering, Sejong University, Seoul 05006, Republic of KoreaDepartment of Mechanical Engineering, Korea Maritime & Ocean University, Busan 49112, Republic of KoreaDepartment of Mechanical Engineering, Korea Maritime & Ocean University, Busan 49112, Republic of KoreaDepartment of Mechanical Engineering, Korea Maritime & Ocean University, Busan 49112, Republic of KoreaUnderwater vehicles have capacity limits for control inputs, within which their time-optimal trajectories (TOTs) can be formulated. In this study, the fastest trajectory for the depth control of a hybrid underwater glider (HUG) was found using buoyancy engines and propellers individually, and the decoupled heave dynamics of the HUG were defined using quadratic hydrodynamic damping. Because buoyancy engines always run at slow speeds, the buoyancy force was formulated based on the constant force rate of the engine. It was assumed that the nominal value of the heave dynamics parameters could be estimated; therefore, the analytical solution of heave dynamics could be formulated using the thrusting saturation and constant buoyancy force rate. Then, the shortest trajectory for depth control of the HUG could be established while considering the actuator saturation. To verify the effectiveness of the TOT in HUG heave dynamics, extensive tracking control simulations following the TOT were conducted. It was found that the proposed TOT helps the HUG reach the desired depth in the shortest arrival time, and its robust depth control showed good tracking performance in the presence of external bounded disturbances.https://www.mdpi.com/2077-1312/11/12/2216time-optimal trajectoryheave dynamicsbuoyancy enginespropellershybrid underwater glider |
| spellingShingle | Mai The Vu Seong Han Kim Van P. Nguyen Nguyen Xuan-Mung Jiafeng Huang Dong-Wook Jung Hyeung-Sik Choi Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders Journal of Marine Science and Engineering time-optimal trajectory heave dynamics buoyancy engines propellers hybrid underwater glider |
| title | Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders |
| title_full | Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders |
| title_fullStr | Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders |
| title_full_unstemmed | Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders |
| title_short | Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders |
| title_sort | analytical solution of time optimal trajectory for heaving dynamics of hybrid underwater gliders |
| topic | time-optimal trajectory heave dynamics buoyancy engines propellers hybrid underwater glider |
| url | https://www.mdpi.com/2077-1312/11/12/2216 |
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