AUV Control with Hard and Soft Actuators

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dc.contributor.advisorGhorbel, Fathien_US
dc.creatorZavislak, Colinen_US
dc.date.accessioned2021-05-03T22:01:55Zen_US
dc.date.available2021-05-03T22:01:55Zen_US
dc.date.created2021-05en_US
dc.date.issued2021-04-28en_US
dc.date.submittedMay 2021en_US
dc.date.updated2021-05-03T22:01:55Zen_US
dc.description.abstractAutonomous underwater vehicles (AUVs) find many applications in oceanography, environmental research, and inspection and maintenance of subsea energy assets. Subsea resident AUVs remain in subsea for extended periods of time that can last for several months. Maintaining depth or orientation using traditional hard actuators (HAs) is very energy expensive. Mimicking aquatic creatures by using propulsion and buoyancy control, it is shown in this thesis that HAs and proposed soft actuators (SAs) can collaborate in a novel way. This collaboration can stabilize AUVs at any desired depth and orientation with minimum energy consumption at steady state. Additionally, once in the desired position the SAs can be used to precisely adjust the orientation of the system while maintaining depth by changing the system's center of buoyancy. This allows for the system to utilize tools, pick up parts, or perform other functions that would result in system mass change. This is demonstrated using a laboratory AUV for which a nonlinear dynamic model was developed that uses experimentally validated system parameters. The AUV uses HAs to quickly reach any desired depth or orientation while SAs generate volume change to adjust the system’s buoyancy to maintain neutral buoyancy at the desired depth. In the neutral buoyancy state, the HAs shut off while the SAs stabilize and maintain the position with virtually zero energy consumption. A control algorithm architecture is developed to manage the HA and SA collaboration. The HAs use a proportional controller with a dead-band, while the SAs use a proportional-derivative-acceleration (PDA) feedback controller. The ability of both types of actuators to mitigate disturbance forces and mass error are explored and analyzed. Simulation results show that SAs alone can reject small disturbances and adjust buoyancy to mitigate shift in system CM, while using both SAs and HAs in collaboration can reject large disturbances and errors. Simulation results demonstrate that combining traditional HAs with SAs leads to dynamic performance and very low energy consumption capabilities that cannot be achieved by either one alone.en_US
dc.format.mimetypeapplication/pdfen_US
dc.identifier.citationZavislak, Colin. "AUV Control with Hard and Soft Actuators." (2021) Master’s Thesis, Rice University. <a href="https://hdl.handle.net/1911/110458">https://hdl.handle.net/1911/110458</a>.en_US
dc.identifier.urihttps://hdl.handle.net/1911/110458en_US
dc.language.isoengen_US
dc.rightsCopyright is held by the author, unless otherwise indicated. Permission to reuse, publish, or reproduce the work beyond the bounds of fair use or other exemptions to copyright law must be obtained from the copyright holder.en_US
dc.subjectControlen_US
dc.subjectAUVen_US
dc.subjectSoft Actuatoren_US
dc.subjectHard Actuatoren_US
dc.titleAUV Control with Hard and Soft Actuatorsen_US
dc.typeThesisen_US
dc.type.materialTexten_US
thesis.degree.departmentMechanical Engineeringen_US
thesis.degree.disciplineEngineeringen_US
thesis.degree.grantorRice Universityen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Scienceen_US
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