Hierarchical Control of Underwater Vehicle Variable Ballast Systems

In this paper, a hierarchical on-off type variable ballast system (VBS) is proposed to improve the performance of hovering control of underwater vehicles. While the upper layer is a PD-type planner which outputs demanded mass of ballast water, the lower layer is an on-off type flowrate controller to...

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Bibliographic Details
Published in2018 37th Chinese Control Conference (CCC) pp. 3911 - 3914
Main Authors Bi, Anyuan, Feng, Zhengping
Format Conference Proceeding
LanguageEnglish
Published Technical Committee on Control Theory, Chinese Association of Automation 01.07.2018
Subjects
Control systems
Electronic ballasts
Hierarchical architecture
Hovering control
Hydraulic systems
Oceans
Robots
Underwater autonomous vehicles
Underwater vehicles
Variable ballast system
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Summary:In this paper, a hierarchical on-off type variable ballast system (VBS) is proposed to improve the performance of hovering control of underwater vehicles. While the upper layer is a PD-type planner which outputs demanded mass of ballast water, the lower layer is an on-off type flowrate controller to track output of the upper layer, i.e., the demanded mass of ballast water. The effectiveness of the proposed scheme is verified by both simulations and tank tests of diving control of an underwater flight vehicle.
ISSN:2161-2927
DOI:10.23919/ChiCC.2018.8482802