An Improved S-Plane Controller for High-Speed Multi-Purpose AUVs with Situational Static Loads Article Swipe
Chunmeng Jiang
,
Jinhua Lv
,
Lei Wan
,
Jianguo Wang
,
Bin He
,
Gongxing Wu
·
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/jmse11030646
YOU?
·
· 2023
· Open Access
·
· DOI: https://doi.org/10.3390/jmse11030646
The classic S-plane control method combines PD structure with fuzzy control theory, with the advantages of a simple control structure and fewer parameters to be adjusted. It has been proved as a practical method in an autonomous underwater vehicle (AUV) motion control at low and medium speeds, but it takes no account of the situational static load and varying hydrodynamic forces which influence the control quality and even result in a “dolphin effect” at the time of high-speed movement. For this reason, an improved S-plane controller is designed based on the sliding mode variable structure, sliding mode surface, and control items in order to respond to the situational static load and high-speed movement. The improved S-plane controller is verified by Lyapunov stability analysis. The thrust allocation strategies are also discussed with constraints introduced in accordance with task requirements. In order to verify the practicability and effectiveness of the improved S-plane controller, both simulation experiments and field trials of AUV motion control, long-range cruise, and path point following were carried out. The results have demonstrated the superiority of the improved S-plane controller over the classic S-plane controller.
Related Topics
Concepts
Control theory (sociology)
Controller (irrigation)
Computer science
Fuzzy logic
Thrust
Sliding mode control
Lyapunov function
Vertical plane
Control engineering
Engineering
Control (management)
Aerospace engineering
Physics
Artificial intelligence
Telecommunications
Biology
Agronomy
Nonlinear system
Quantum mechanics
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/jmse11030646
- https://www.mdpi.com/2077-1312/11/3/646/pdf?version=1679361446
- OA Status
- gold
- Cited By
- 5
- References
- 41
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4327949059
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4327949059Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/jmse11030646Digital Object Identifier
- Title
-
An Improved S-Plane Controller for High-Speed Multi-Purpose AUVs with Situational Static LoadsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2023Year of publication
- Publication date
-
2023-03-19Full publication date if available
- Authors
-
Chunmeng Jiang, Jinhua Lv, Lei Wan, Jianguo Wang, Bin He, Gongxing WuList of authors in order
- Landing page
-
https://doi.org/10.3390/jmse11030646Publisher landing page
- PDF URL
-
https://www.mdpi.com/2077-1312/11/3/646/pdf?version=1679361446Direct link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://www.mdpi.com/2077-1312/11/3/646/pdf?version=1679361446Direct OA link when available
- Concepts
-
Control theory (sociology), Controller (irrigation), Computer science, Fuzzy logic, Thrust, Sliding mode control, Lyapunov function, Vertical plane, Control engineering, Engineering, Control (management), Aerospace engineering, Physics, Artificial intelligence, Telecommunications, Biology, Agronomy, Nonlinear system, Quantum mechanicsTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
5Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2024: 2, 2023: 2Per-year citation counts (last 5 years)
- References (count)
-
41Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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