Development and High-Fidelity Simulation of Trajectory Tracking Control Schemes of a UUV for Fish Net-Pen Visual Inspection in Offshore Aquaculture

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aut.relation.endpage135787
aut.relation.issue99
aut.relation.journalIEEE Access
aut.relation.startpage135764
aut.relation.volume11
dc.contributor.authorTun, Thein Than
dc.contributor.authorHuang, Loulin
dc.contributor.authorPreece, Mark Anthony
dc.date.accessioned2024-01-10T00:10:29Z
dc.date.available2024-01-10T00:10:29Z
dc.date.issued2023-11-30
dc.description.abstractOffshore aquaculture fish farming faces labor shortage, safety, productivity and high operating cost issues. Unmanned underwater vehicles (UUVs) are being deployed to mitigate these issues. One of their applications is the fish net-pen visual inspection. This paper aims to develop and simulate with high-fidelity several trajectory tracking control schemes for a UUV to visually inspect a fish net-pen in a standard task scenario in offshore aquaculture under 0.0 m/s, 0.5 m/s and 0.9 m/s underwater current disturbances. Three controllers, namely 1) Proportional-Derivative control with restoring force & moment compensation (Compensated-PD), 2) Proportional-Integral-Derivative control with restoring force & moment compensation (Compensated-PID), and 3) computed torque (or) inverse dynamics control (CTC/IDC) were conducted on a 6 degrees-of-freedom (DoF) BlueROV2 Heavy Configuration dealing with 12 error states (pose and twist). A standard task scenario for the controllers was formulated based on the Blue Endeavour project of the New Zealand King Salmon company located 5 kilometres due north of Cape Lambert, in northern Marlborough. This simulated experimental study gathered and applied many available and physically quantifiable parameters of the fish farm and a UUV called BlueROV2 Heavy Configuration. Results show that while utilizing the minimum thrust, CTC/IDC outperforms Compensated-PID and Compensated-PD in overall trajectory tracking under different underwater current disturbances. Numerical results measured with root-mean-square-error (RMSE), mean-absolute-error (MAE) and root-sum-squared (RSS) are reported for comparison, and simulation results in the form of histograms, bar charts, plots, and video recordings are provided. Future work will explore into advanced controllers, with a specific emphasis on energy-optimal control schemes, accompanied by comprehensive stability and robustness analyses applied to linear and nonlinear UUV models.
dc.identifier.citationIEEE Access, ISSN: 2169-3536 (Print); 2169-3536 (Online), Institute of Electrical and Electronics Engineers (IEEE), 11(99), 135764-135787. doi: 10.1109/access.2023.3337872
dc.identifier.doi10.1109/access.2023.3337872
dc.identifier.issn2169-3536
dc.identifier.issn2169-3536
dc.identifier.urihttp://hdl.handle.net/10292/17090
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)
dc.relation.urihttps://ieeexplore.ieee.org/document/10335654
dc.rights2023 The Authors. This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License. For more information, see https://creativecommons.org/licenses/by-nc-nd/4.0/
dc.rights.accessrightsOpenAccess
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subject40 Engineering
dc.subject4010 Engineering Practice and Education
dc.subject14 Life Below Water
dc.subject08 Information and Computing Sciences
dc.subject09 Engineering
dc.subject10 Technology
dc.subject40 Engineering
dc.subject46 Information and computing sciences
dc.titleDevelopment and High-Fidelity Simulation of Trajectory Tracking Control Schemes of a UUV for Fish Net-Pen Visual Inspection in Offshore Aquaculture
dc.typeJournal Article
pubs.elements-id532133
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