Robust Nonlinear Geometric Steering Tracker for an Autopilot Submarine

  • Muneeb Ul Hassan COMSATS Institute of Information Technology
  • Hamza Riaz COMSATS Institute of Information Technology
  • Muzammil Ahmed COMSATS Institute of Information Technology
  • Sana Mariam COMSATS Institute of Information Technology
  • Urfa Afzal COMSATS Institute of Information Technology
  • Engr. Ali Shahbaz Haider COMSATS Institute of Information Technology

Abstract

An Autopilot submarines is an Unmanned Underwater Vehicles(UUVs) that can perform controlled maneuvers and trajectory tracking dictated either by a pilot on ground or as a part of a preprogrammed mission. The extreme environment conditions of underwater and the resulting significant variation in the system parameters engenders a challenging control problems for these submarines. This paper presents the formulation and implementation of a robust nonlinear geometric yaw tracker for an autopilot submarine. The UUV carries its onboard Micro Elector-Mechanical Systems (MEMS) based Inertial Measurement Unit (IMU) with data fusion algorithm. The yaw command reference tracking simulation is performed. The system performance is investigated under disturbances. Based on the simulation and the experimental results, this nonlinear geometric tracking approach proves to be a novel and effective technique for UUV Yaw control, disturbance rejection and robustness against parameter variations.

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Author Biographies

Muneeb Ul Hassan, COMSATS Institute of Information Technology
Electrical Engineering Department
Hamza Riaz, COMSATS Institute of Information Technology
Electrical Engineering Department
Muzammil Ahmed, COMSATS Institute of Information Technology
Electrical Engineering Department
Sana Mariam, COMSATS Institute of Information Technology
Electrical Engineering Department
Urfa Afzal, COMSATS Institute of Information Technology
Electrical Engineering Department
Engr. Ali Shahbaz Haider, COMSATS Institute of Information Technology
Electrical Engineering Department

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Published
2017-06-02
How to Cite
HASSAN, Muneeb Ul et al. Robust Nonlinear Geometric Steering Tracker for an Autopilot Submarine. International Journal of Research and Engineering, [S.l.], v. 4, n. 5, p. 150-155, june 2017. ISSN 2348-7860. Available at: <http://digital.ijre.org/index.php/int_j_res_eng/article/view/281>. Date accessed: 22 sep. 2017.