Acronym FREESUB
Funding Reference EU-FP5-Human Potential Research Training Network No. HPRN-CT-2000-00032
Dates 2000|2004
Summary

The objective of this research program is threefold: i) to investigate the technologies required for the development of small autonomous underwater vehicles (AUVs), ii) to develop methods for integrated design of underwater vehicles and dynamic controllers, and ii) to study new methodologies for the design of path following control laws for autonomous vehicles as well as for coordinated control of marine robots.

i) Integrated design of underwater vehicles and controllers the key objective is to study the problems of AUV modeling and parameter estimation in conjunction with control system design, as a means to predict the expected dynamic performance of underwater vehicles under closed feedback control, and thus guide their design phase well before they can be tested at sea. AUV modeling and parameter estimation requires a combination of analytical and semi-empirical methods, together with actual testing of scaled version of vehicle models in hydrodynamic tank facilities. The methodologies explored for control system design are firmly rooted in the field of control systems theory and borrow heavily from the areas of Linear Matrix Inequalities (LMIs) and Convex Optimization, which are the subject of current research.
ii) AUV control under wave disturbances – the main theoretical tools used are stochastic linearization and linear matrix inequalities. The first allow for the computation of the “linear simplified model” of a full stochastic model for the AUV; the latter is specially suited to address multiobjective design criteria such as minimizing the effect of wave action while maintaining sufficient control authority for depth maneuvering and robustness against plant uncertainty.
iii) Path following in 3-D the key issues in this research topic are the control of ocean vehicles for accurate path following in 3-D and the control of vehicles working in cooperation. The methodologies being used borrow from Lyapunov stability theory.
iv) Technologies for the development of small AUVs this initiative was started in cooperation with the National Institute of Oceanography (NIO) in Goa, India, with the objective of investigating basic technological issues that will play a key role in the development of a future breed of AUVS. The long term objective is for the ISR and the NIO to design and actually build two identical copies of a small AUV that will be used in oceanographic missions in Portugal and India. This is currently being pursued in the scope of the MAYA project.

Research Groups Dynamical Systems and Ocean Robotics Lab (DSOR)
Project Partners CEA Teleoperation and Robotics Department (F), Democritus University of Thrace (Gr), The Joint Research Centre of the European Commission (I), Instituto Superior TEcnico (P), University of Southampton (UK), IFREMER (F)
ISR/IST Responsible
António Pascoal
[1] Cybernetix (FR), CEA (FR), DUTH (GR), IFREMER (FR), IST/ISR (P), JRC (IT), University of Southampton, FREESUB: Autonomous Underwater Vehicle for Subsea Interventions, Final Project Report, 2004
[2] Paulo Oliveira, António Pascoal, Periodic and Multirate Filter Design using LMIs, DSORL-ISR Technical Report. To be submitted for publication, 2001
[3] António Pedro Aguiar, Nonlinear Motion Control of Nonholonomic and Underactuated Systems, Ph.D. Thesis, Instituto Superior Tecnico, Lisboa, Portugal,, 2002
[4] Paulo Oliveira, Periodic and Non-Linear Estimators with Applications to the Navigation of Ocean Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Portugal, 2002 - PDF
[5] A. Aguiar, António Pascoal, Stabilization of an Underactuated Autonomous Underwater Vehicle Via Logic-Based Hybrid Control, Proc. MED2002 Conference, Lisbon, Portugal, 2002
[6] A. Aguiar, António Pascoal, Way-Point Tracking of Underactuated AUVs in the Presence of Ocean Currents, Proc. MED2002 Conference, Lisbon, Portugal, 2002
[7] A. Aguiar, António Pascoal, Practical Stabilization of the Extended Nonholonomic Double Integrator, Proc. MED2002 Conference, Lisbon, Portugal, 2002
[8] L. Lapierre, D. Soetanto, António Pascoal, Adaptive Nonlinear Vision Based Path Following Control of a Wheeled Robot, Accepted for presentation at MED2002 Conference, Lisbon, Portugal, 2002
[9] A. Aguiar, António Pascoal, Global Stabilization of an Underactuated Autonomous Underwater Vehicle Via Logic-Based Hybrid Control, Proc. IEEE Conference on Decision and Control, USA, 2002
[10] António Pedro Aguiar, António Pascoal, Dynamic Positioning and Way-Point Tracking of Underactuated AUVs in the Presence of Ocean Currents, Proc. IEEE Conference on Decision and Control, USA, 2002
[11] A. Aguiar, António Pascoal, Practical Stabilization of the ENDI Under Input Saturation Constraints via Logic-Based Hybrid Control, Submitted for presentation at the IEEE 2002 Conference on Decision and Control, USA, 2002
[12] A. Aguiar, António Pascoal, Dynamic Positioning of an Underactuated AUV in the Presence of a Constant Unknown Current Disturbance, Proc. 15th IFAC World Congress, Barcelona, Spain, 2002
[13] D. Labbe, P. Wilson, P. Weiss, L. Lapierre, FreeSub : Navigation, Guidance, and Control Systems for an Intervention AUV, joint DSORL/FREESUB report, 2002
[14] Rodolfo Oliveira, Mission Control for Autonomous Vehicles, DSORL-ISR Technical Report, 2002
[15] D. Labbe, P. Wilson, P. Weiss, L. Lapierre, António Pascoal, FREESUB Navigation, Guidance, and Control System for an Intervention AUV, Proc. SCSS 2003 - 13th Ship Control System Symposium, Orlando, Florida, 2003
[16] P. Weiss, J. Mascarell, M. Badica, D. Labbe, l. Brignone, L. Lapierre, FREESUB: Modular Control system for Intervention AUVs (IAUV), Proc. UUST2003 - 13th International Symposium on Unmanned Untethered Submersible Technology, Durham, New Hampshire, USA, 2003
[17] L. Lapierre, D. Soetanto, António Pascoal, Coordinated Motion Control of Marine Robots, Proc. MCMC 2003 - 6th IFAC Conference on Manoeuvering and Control of Marine Craft, Girona, Spain, 2003
[18] L. Lapierre, D. Soetanto, António Pascoal, Nonlinear Path Following with Applications to the Control of Autonomous Underwater Vehicles, Proc. CDC2003 - 42nd IEEE Conference on Decision and Control, Hawai, USA, 2003
[19] Alex Alcocer, Paulo Oliveira, António Pascoal, Study and Implementation of an Acoustic-Based Positioning System for Autonomous Underwater Vehicles, DSORL-ISR Technical Report, 2003
[20] L. Lapierre, D. Soetanto, António Pascoal, Nonlinear Coordinated Path Following Control of Multiple Marine Vehicles, DSORL-ISR Technical Report, 2003
[21] L. Lapierre, Alex Alcocer, Contributions to the Development of a Simulator for Intervention AUVs, joint DSORL-ISR/FREESUB Team Technical Report, 2003
[22] António Pascoal, Carlos Silvestre, Control of the INFANTE AUV Using Gain Scheduled Static Output Feedback, Proc. GCUV 2003 - 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, South Wales, UK, 2003