Bionic Gliding Underwater Robots: Design, Control, and Implementation

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Half Title
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Contents
Chapter 1 ▪ Development and Control of Underwater Gliding Robots: A Review
1.1 Introduction
1.2 Prototype of the UGRs
1.2.1 Traditional UGRs
1.2.2 Hybrid-Driven UGRs
1.2.3 Bio-Inspired UGRs
1.2.4 Thermal UGRs
1.2.5 Other UGRs
1.3 Key Technologies of UGRs
1.3.1 Design of the Buoyancy-Driven System
1.3.2 System Model of UGRs
1.3.3 Control of UGRs
1.4 Discussion and Future Development
1.4.1 Prototype Development
1.4.2 Technology of the Buoyancy-Driven System
1.4.3 Motion Control and Optimization
1.4.4 Application Scenarios Prospect of UGRs
1.5 Concluding Remarks
Chapter 2 ▪ Design and Implementation of Typical Gliding Robotic Dolphins
2.1 Introduction
2.2 System Development of Typical Gliding Robotic Dolphins
2.2.1 A Miniature Dolphin-Like Underwater Glider
2.2.2 A 1-m-Scale Gliding Robotic Dolphins
2.2.3 A 1.5-m Gliding Robotic Dolphin with 3 MPa pressure
2.3 CFD Simulation and Analysis
2.4 Experiments and Discussion
2.4.1 A Miniature Prototype
2.4.2 A 1-m-Scale Prototype
2.4.3 A 1.5-m Prototype
2.5 Concluding Remarks
Chapter 3 ▪ 3-D Motion Modeling of the Gliding Underwater Robot
3.1 Introduction
3.2 Motion Modeling of the Gliding Underwater Robot
3.3 Kinematic Analysis
3.3.1 Net Buoyancy Analysis
3.3.2 Hydrodynamic Analysis
3.3.3 Dynamic Model
3.4 Analysis of the Steady Gliding Motion
3.5 Results and Analyses
3.5.1 Simulation Results
3.5.2 Experimental Results
3.6 Concluding Remarks
Chapter 4 ▪ Depth Control of the Gliding Underwater Robot with Multiple Modes
4.1 Introduction
4.2 Depth Control in Gliding Motion
4.2.1 Problem Statement
4.2.2 Simplified Plant Model
4.2.3 Sliding Mode Observer and Heading Controller Design
4.2.4 Depth Controller Design
4.3 Depth Control in Gliding Motion
4.3.1 Problem Statement
4.3.2 LOS Method
4.3.3 Control Framework
4.3.4 Controller Design
4.3.5 Adaptation Rules
4.4 Results and Analyses
4.4.1 Depth Control in Gliding Motion
4.4.2 Depth Control in Dolphin-Like Motion
4.5 Concluding Remarks
Chapter 5 ▪ Heading and Pitch Regulation of Gliding Motion Based on Controllable Surfaces
5.1 Introduction
5.2 Gliding Analysis Under Movable Fin
5.2.1 Analysis of Yaw Movement
5.2.2 Analysis of Pitch Movement
5.3 Control Methods
5.3.1 Heading Control
5.3.2 Pitch Control
5.4 Simulation Results and Analysis
5.4.1 Heading Simulation
5.4.2 Pitch Simulation
5.5 Experimental Results and Analysis
5.5.1 Heading Experiment
5.5.2 Pitch Experiment
5.6 Concluding Remarks
Chapter 6 ▪ Gliding Motion Optimization for a Bionic Gliding Underwater Robot
6.1 Introduction
6.2 Bionic Gliding Underwater Robotic System
6.2.1 Bionic Gliding Underwater Robot
6.2.2 2-D Gliding Dynamics and Hydrodynamics
6.2.3 Transient Gliding Motion
6.3 Capacity Analysis of Pectoral Fins for Gliding Optimization
6.3.1 Pectoral Fins Design
6.3.2 Hydrodynamics of the Fins
6.3.3 Optimizing Capability Analysis
6.4 DRL-Based Gliding Optimization Strategy
6.4.1 Discretization
6.4.2 Reward Shaping
6.4.3 Training Method
6.5 Separate Controller Design
6.5.1 Dynamic Model Decomposition
6.5.2 Control Strategy
6.5.3 Backstepping Pitch Controller
6.5.4 MPC-Based AOA Controller
6.6 Simulation and Analysis
6.6.1 Training Results of the Gliding Optimization Strategy
6.6.2 Dynamic Results of Gliding Optimization
6.6.3 Separate Control
6.6.4 Gliding Path Following
6.6.5 Discussion
6.7 Experimental Verification
6.7.1 Measurement and Control System
6.7.2 Sawtooth Gliding Experiments
6.7.3 Energy Consumption Statistics
6.7.4 Separate Control Experiments
6.8 Concluding Remarks
Chapter 7 ▪ Real-Time Path Planning and Following of a Gliding Underwater Robot within a Hierarchical Framework
7.1 Introduction
7.2 Overview of the Gliding Underwater Robot
7.3 Planar Path Planning
7.3.1 Problem Statement and Network Architecture
7.3.2 Training Setup
7.4 Path-Following Control
7.4.1 Problem Formulation and LOS Law
7.4.2 Controller Design
7.5 Simulations and Experiments
7.5.1 Results of Path Planning
7.5.2 Results of Path Following
7.5.3 Experimental Results and Analysis
7.5.4 Discussion
7.6 Conclusion
Chapter 8 ▪ 3-D Maneuverability Analysis and Path Planning for Gliding Underwater Robots
8.1 Introduction
8.2 3-D Maneuverability Analysis
8.2.1 Horizontal Motion
8.2.2 Vertical Motion
8.2.3 Experimental Results and Analysis of Horizontal Motion
8.2.4 Experimental Results and Analysis of Vertical Motion
8.3 3-D Path Planning with Multiple Motions
8.3.1 Gliding Path Planning Based on Geometric Constraint
8.3.2 Obstacle-Avoidance Path Planning Based on Dolphin-Like Motion
8.4 Results and Analyses
8.4.1 Result of Gliding Path Generation
8.4.2 Result of Obstacle Avoidance
8.4.3 Result of Path Smoothing
8.4.4 Discussion
8.5 Concluding Remarks