Surrogate Modeling for the Development of AUV Motion Control Algorithms
EDN: VOBFZM
Abstract
Currently, the field of underwater robotics is actively developing. The scope of tasks performed by autonomous underwater vehicles (AUVs) is expanding, and hence, the requirements for their autonomy are growing. These factors inevitably increase the time and cost of designing control and navigation systems for AUVs; in this connection, mathematical simulation begins to play an increasingly important role. This paper proposes a method for synthesizing a control system for AUVs on the basis of surrogate models formed as a result of numerical simulation. The novelty of the work is that the AUV motion dynamics is represented as modified nonlinear transfer functions with nonlinear time-varying parameters, which are supposed to be determined from the results of numerical simulation. The proposed approach makes it possible to decompose the problem of control algorithm synthesis, reducing it to an optimization problem, taking into consideration the cross-effect of the control loops. This can cause difficulties in the cases that traditional analytical models are used. The implementation of the proposed approach is described on the example of the synthesis of the algorithm for AUV control in the vertical plane when it moves at a specified distance from the seabed. The effectiveness of the method is confirmed in the course of similar mathematical experiments conducted on numerical models.
About the Authors
S. A. Polovko
Russian Scientific Center for Robotics and Technical Cybernetics
Russian Federation
Russian Federation
St. Petersburg
D. K. Serov
Russian Scientific Center for Robotics and Technical Cybernetics
Russian Federation
Russian Federation
St. Petersburg
A. S. Abramenko
Russian Scientific Center for Robotics and Technical Cybernetics
Russian Federation
Russian Federation
St. Petersburg
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Review
For citations:
Polovko S.A., Serov D.K., Abramenko A.S. Surrogate Modeling for the Development of AUV Motion Control Algorithms. Giroskopiya i Navigatsiya. 2025;33(3):88-102. (In Russ.) EDN: VOBFZM
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