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Robotics 2015, 4(4), 492-515; doi:10.3390/robotics4040492

Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results

1
School of Marine Science and Technology, Newcastle University, Newcastle Upon Tyne, NE1 7RU, UK
2
Defence Business Unit, Production Engineering Division, Large Scale Systems Group, Singapore Technologies Electronics Limited, 24 Ang Mo Kio Street 65, Singapore 569061
*
Author to whom correspondence should be addressed.
Academic Editors: Thor I. Fossen and Ingrid Schjølberg
Received: 24 July 2015 / Revised: 7 November 2015 / Accepted: 24 November 2015 / Published: 1 December 2015
(This article belongs to the Special Issue Underwater Robotics)

Abstract

Control systems prototyping is usually constrained by model complexity, embedded system configurations, and interface testing. The proposed control system prototyping of a remotely-operated vehicle (ROV) with a docking hoop (DH) to recover an autonomous underwater vehicle (AUV) named AUVDH using a combination of software tools allows the prototyping process to be unified. This process provides systematic design from mechanical, hydrodynamics, dynamics modelling, control system design, and simulation to testing in water. As shown in a three-dimensional simulation of an AUVDH model using MATLAB™/Simulink™ during the launch and recovery process, the control simulation of a sliding mode controller is able to control the positions and velocities under the external wave, current, and tether forces. In the water test using the proposed Python-based GUI platform, it shows that the AUVDH is capable to perform station-keeping under the external disturbances. View Full-Text
Keywords: docking hoop; recovery; simulation; Python; remotely-operated vehicle; autonomous underwater vehicle; sliding-mode control; backpropagation neural network; hydrodynamics damping and added mass docking hoop; recovery; simulation; Python; remotely-operated vehicle; autonomous underwater vehicle; sliding-mode control; backpropagation neural network; hydrodynamics damping and added mass
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Lin, W.P.; Chin, C.S.; Looi, L.C.W.; Lim, J.J.; Teh, E.M.E. Robust Design of Docking Hoop for Recovery of Autonomous Underwater Vehicle with Experimental Results. Robotics 2015, 4, 492-515.

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