Mini-AUV Hydrodynamic Parameters Identification via CFD Simulations and Their Application on Control Performance Evaluation
Autor: | José J. Castillo-Zamora, Karla A. Camarillo-Gómez, Gerardo I. Pérez-Soto, Juvenal Rodríguez-Reséndiz, Luis A. Morales-Hernández |
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Jazyk: | angličtina |
Rok vydání: | 2021 |
Předmět: | |
Zdroj: | Sensors, Vol 21, Iss 3, p 820 (2021) |
Druh dokumentu: | article |
ISSN: | 21030820 1424-8220 |
DOI: | 10.3390/s21030820 |
Popis: | This manuscript presents a fully detailed methodology in order to identify the hydrodynamic parameters of a mini autonomous underwater vehicle (mini-AUV) and evaluate its performance using different controllers. The methodology consists of close-to-reality simulation using a Computed Fluid Dynamics (CFD) module of the ANSYS™ Workbench software, the processing of the data, obtained by simulation, with a set of Savistky–Golay filters; and, the application of the Least Square Method in order to estimate the hydrodynamic parameters of the mini-AUV. Finally, these parameters are considered to design the three different controllers that are based on the robot manipulators theory. Numerical simulations are carried out to evaluate the performance of the controllers. |
Databáze: | Directory of Open Access Journals |
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