Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance

Li, Ao; Guo, Shuxiang; Liu, Meng; Yin, He

doi:10.3390/machines10090798

Open AccessArticle

Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance

by

Ao Li

¹

,

Shuxiang Guo

^1,2,*,

Meng Liu

¹ and

He Yin

¹

School of Life Science, Beijing Institute of Technology, Beijing 100081, China

²

Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, Ministry of Industry and Information Technology, School of Life Science, Beijing Institute of Technology, Beijing 100081, China

^*

Author to whom correspondence should be addressed.

Machines 2022, 10(9), 798; https://doi.org/10.3390/machines10090798

Submission received: 16 August 2022 / Revised: 6 September 2022 / Accepted: 7 September 2022 / Published: 10 September 2022

(This article belongs to the Special Issue Advances in Underwater Robot Technology)

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Abstract

In the navigation of underwater robots, large ocean current disturbance often causes significant tracking errors. To better resist ocean current disturbance, the hydrodynamic characteristics of the spherical underwater robot are studied, and a model predictive control strategy based on adaptive model parameters is proposed, according to these characteristics. Firstly, the hydrodynamic characteristics of the robot under static water and constant flow disturbance were obtained and analyzed by the computational fluid dynamics method. Then, the dynamic models of the robot under different disturbances could be calculated from the data obtained, based on the least square method. Finally, an adaptive model predictive control (AMPC) strategy, with an ocean current observer, was designed, based on the dynamic models. When the current disturbance velocity was twice the robot velocity, the proposed strategy reduced the tracking error by 39% and 42% in X and Y directions, respectively. In addition, the hydrodynamic characteristics were verified by experiments.

Keywords: spherical underwater robot; adaptive model predictive control (AMPC); ocean current disturbance; hydrodynamic characteristics; computational fluid dynamics

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MDPI and ACS Style

Li, A.; Guo, S.; Liu, M.; Yin, H. Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance. Machines 2022, 10, 798. https://doi.org/10.3390/machines10090798

AMA Style

Li A, Guo S, Liu M, Yin H. Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance. Machines. 2022; 10(9):798. https://doi.org/10.3390/machines10090798

Chicago/Turabian Style

Li, Ao, Shuxiang Guo, Meng Liu, and He Yin. 2022. "Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance" Machines 10, no. 9: 798. https://doi.org/10.3390/machines10090798

APA Style

Li, A., Guo, S., Liu, M., & Yin, H. (2022). Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance. Machines, 10(9), 798. https://doi.org/10.3390/machines10090798

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Hydrodynamic Characteristic-Based Adaptive Model Predictive Control for the Spherical Underwater Robot under Ocean Current Disturbance

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