Variable Structure Controller for Energy Savings in an Underwater Sensor Platform

• Tipo: Artigo em Revista Científica Internacional
• Data: 2024

Autores

João Pedro Falcão Carneiro (Autor) FEUP; Pinto, JB (Autor) Outra; Fernando Gomes Almeida (Autor) FEUP; Nuno Cruz (Autor) FEUP

Revista

Título: Sensors

Nº de Série 22 Vol. 24 Nº 9569

Página Final: 5771

ISSN: 1424-3210

Editora: MDPI

Indexação

ISI Web of Knowledge - 0 Citações

Scopus - 0 Citações

Outras Informações

ID Authenticus: P-016-WZ1

DOI: 10.3390/s24175771

Abstract (EN): This paper introduces a new variable structure controller designed for depth control of an autonomous underwater sensor platform equipped with a variable buoyancy module. To that end, the prototype linear model is presented, and a finite element-based method is used to estimate one of its parameters, the hull deformation due to pressure. To manage potential internal disturbances like hull deformation or external disturbances like weight changes, a disturbance observer is developed. An analysis of the observer steady-state estimation error in relation to input disturbances and system parameter uncertainties is developed. The locations of the observer poles according to its parameters are also identified. The variable structure controller is developed, keeping energy savings in mind. The proposed controller engages when system dynamics are unfavorable, causing the vehicle to deviate from the desired reference, and disengages when dynamics are favorable, guiding the vehicle toward the target reference. A detailed analysis determines the necessary switching control actions to ensure the system reaches the desired reference. Finally, simulations are run to compare the proposed controller's performance with that of PID-based controllers recently developed in the literature, assessing dynamic response and energy consumption under various operating conditions. Both the VBM- and propeller-actuated vehicles were evaluated. The results demonstrate that the proposed controller achieves an average energy consumption reduction of 22% compared to the next most efficient PID-based controller for the VBM-actuated vehicle, though with some impact on control performance.

Idioma: Inglês

Tipo (Avaliação Docente): Científica

Nº de páginas: 19