Funding Reference Memorandum of Understanding between the National Institute of Oceanography and the IISR/IST. Research work has been supported by NATO scholarships, funding from GRICES through the Portuguese-India Cooperation Programme and institutional funding for travel and accommodations
Dates 1996|2002
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 Dept. Mechanical Engineering and Dept. Aeronautics and Astronautics, Naval Postgraduate School, Monterey, California, National Institute of Oceanography (NIO), Dona Paula, Goa, India, Dept. Mechatronics of the University of São Paulo, Brasil
ISR/IST Responsible
António Pascoal
[1] Paulo Oliveira, Periodic and Non-Linear Estimators with Applications to the Navigation of Ocean Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Portugal, 2002 - PDF
[2] Pedro Encarnacao, Nonlinear Path Following Control Systems for Ocean Vehicles, Ph.D. Thesis, Instituto Superior Tecnico, Portugal, 2002
[3] Carlos Silvestre, António Pascoal, I. Kaminer, On the Design of Gain-Scheduled Trajectory Tracking Controllers, International Journal of Robust and Nonlinear Control, 12:797-839, 2002
[4] 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
[5] P. Encarnacao, António Pascoal, Combined Trajectory Tracking and Path Following Control for Dynamic Wheeled Mobile Robots, Proc. 15th IFAC World Congress, Barcelona, Spain, 2002
[6] Paulo Oliveira, António Pascoal, I. Kaminer, A Nonlinear Vision Based Tracking System for Coordinated Control of Marine Vehicles, Proc. 15th IFAC World Congress, Barcelona, Spain, 2002 - PDF
[7] 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
[8] 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
[9] A. Aguiar, António Pascoal, Global Stabilization of an Underactuated AUV Via Logic-Based Hybrid Control, Proc. CONTROLO 2002 Conference, Aveiro, Portugal, 2002
[10] A. Aguiar, António Pascoal, From Local to Global Stabilization: a Hybrid System Approach, Proc. CONTROLO 2002 Conference, Aveiro, Portugal, 2002
[11] L. Lapierre, D. Soetanto, António Pascoal, Coordinated Motion Control of Marine Robots, DSORL-ISR Technical Report, 2002
[12] Rodolfo Oliveira, Mission Control for Autonomous Vehicles, DSORL-ISR Technical Report, 2002
[13] L. Wong, Marine Craft Control using Image and 3D Shape Matching, DSORL-ISR Technical Report, 2002
[14] Paulo Oliveira, António Pascoal, On the Design of Multirate Complementary Filters for Marine Vehicle Navigation: New Tools using Linear Matrix Inequalities (LMIs), DSORL-ISR Technical Report, 2002
[15] Carlos Silvestre, António Pascoal, Control of the INFANTE AUV Using Gain Scheduled Static Output Feedback, DSORL-ISR Technical Report, 2002
[16] L. Lapierre, D. Soetanto, António Pascoal, Nonlinear Path Following Control of Autonomous Underwater Vehicles, DSORL-ISR Technical Report, 2002
[17] S. Rumyantzev, A. Miroshnikov, E. Popova, Design of PID controllers for ship course keeping using approximations to H∞ solutions, Proc. IFAC Conference CAMS´2001, Control Applications in Marine Systems, Glasgow, Scotland, 2001
[18] A. Aguiar, António Pascoal, Regulation of a Nonholonomic Autonomous Underwater Vehicle with Parametric Modeling Uncertainty using Lyapunov Functions, Proc. 40th IEEE Conference on Decision and Control, Orlando, Florida, 2001
[19] S. Rumyantzev, António Pascoal, Carlos Silvestre, Acceleration Feedback for Hydrofoil Craft Control: a Gain Scheduling Framework, DSORL-ISR Technical Report. To be submitted for publication, 2001
[20] António Pedro Aguiar, Nonlinear Motion Control of Nonholonomic and Underactuated Systems, Ph.D. Thesis, Instituto Superior Tecnico, Lisboa, Portugal,, 2002
[21] 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
[22] L. Lapierre, D. Soetanto, António Pascoal, Nonlinear Path Following Control of Autonomous Underwater Vehicles, Proc. GCUV 2003 - 1st IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, South Wales, UK, 2003
[23] Paulo Oliveira, António Pascoal, On the Design of Multirate Complementary Filters for Marine Vehicle Navigation: New Tools using Linear Matrix Inequalities (LMIs), Proc. IFAC Workshop on Guidance and Control of Underwater Vehicles, Newport, South Wales, UK, 2003
[24] D. Soetanto, L. Lapierre, António Pascoal, Adaptive Nonsingular Path Following Control of Dynamic Wheeled Robots, Proc. ICAR 2003 - 11th International Conference on Advanced Robotics, Coimbra, Portugal, 2003
[25] L. Lapierre, D. Soetanto, António Pascoal, Adaptive Vision-Based Path Following Control of a Wheeled Robot, Proc. ECC 2003 - The European Control Conference, Cambridge, UK, 2003
[26] 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
[27] 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
[28] D. Soetanto, L. Lapierre, António Pascoal, Adaptive Nonsingular Path Following Control of Wheeled Robots, Proc. CDC2003 - 42nd IEEE Conference on Decision and Control, Hawai, USA, 2003
[29] Alex Alcocer, Paulo Oliveira, António Pascoal, Study and Implementation of an Acoustic-Based Positioning System for Autonomous Underwater Vehicles, DSORL-ISR Technical Report, 2003
[30] João Alves, Carlos Silvestre, A Reliable Datagram Protocol for Distributed Vehicular Aplications, DSORL-ISR Technical Report, 2003
[31] E. Barros, António Pascoal, AUV Dynamics: Modeling and Parameter Estimation using Analytical and Semi-Empirical Methods, DSORL-ISR Technical Report, 2003
[32] Danilo Carvalho, T. Filho, António Pascoal, Development of a Simulator for a Remotely Operated Vehicle (ROV), joint DSORL-ISR/UFES Technical Report, 2003
[33] Reza Ghabcheloo, António Pascoal, Carlos Silvestre, I. Kaminer, Coordinated Path Following Control of Multiple Wheeled Robots using Linearization Techniques, DSORL-ISR Technical Report, 2003
[34] L. Lapierre, D. Soetanto, António Pascoal, Nonlinear Coordinated Path Following Control of Multiple Marine Vehicles, DSORL-ISR Technical Report, 2003
[35] Rodolfo Oliveira, Carlos Silvestre, Petri Net based Supervision Techniques for the Design of Mission Control Systems for Autonomous Vehicles, DSORL-ISR Technical Report, 2003
[36] Rodolfo Oliveira, Carlos Silvestre, A Mission Programming Environment for Multiple Autonomous Vehicles, DSORL-ISR Technical Report, 2003
[37] Francisco Curado, Concurrent Mapping and Localization using Geophysical Navigation with application to the navigation of an Autonomous Underwater Vehicle – Part 1 : Geophysical Navigation, Report INGMARDEP 07/FCT/2003 , 2003
[38] Francisco Curado, Concurrent Mapping and Localization using Geophysical Navigation with application to the navigation of an Autonomous Underwater Vehicle – Part 2 : Concurrent Mapping and Localization, Report INGMARDEP 08/FCT/2003 , 2003