Yüzey Dalgası Kaynaklı Bozucu Etkiler Altında Otonom Sualtı Araçlarının (AUVs) Hız Kararlılığının Uzun Kısa Süreli Bellek (LSTM) Tabanlı Model Öngörülü Kontrol (MPC) ile Sağlanması

Year 2025, Volume: 13 Issue: 3, 1031 - 1045, 30.09.2025

Ahmetcan Önal , Andaç Töre Şamiloğlu

https://doi.org/10.29109/gujsc.1726037

Abstract

Otonom Sualtı Araçları (AUV’ler), sualtı keşfi, bilimsel araştırmalar ve açık deniz operasyonlarında hayati bir rol oynamaktadır. Ancak, yüzeye yakın sığ derinliklerde dalga kaynaklı bozucu etkiler nedeniyle hız kararlılığı bozulabilmektedir. Bu çalışma, karmaşık hidrodinamik modelleme veya sistem tanımlamasına ihtiyaç duymayan veri odaklı bir kontrol çerçevesi önermektedir. Dalga etkilerini içeren simülasyon verileriyle eğitilen Uzun Kısa Süreli Bellek (LSTM) tabanlı Tekrarlayan Sinir Ağı (RNN), AUV’nin hız tepkilerini tahmin etmektedir. Bu tahminler, harici bozucuları telafi eden optimal kontrol sinyalleri üretmek amacıyla Model Öngörülü Kontrol (MPC) yapısı içinde kullanılmaktadır. Yöntem, giriş–çıkış verilerinden sistemin doğrusal olmayan dinamiklerini ve çevresel etkileşimleri öğrenerek kontrol tasarımını sadeleştirirken öğrenilmiş deniz koşulları altında kararlılık sağlamaktadır. Simülasyonlar, LSTM-MPC çerçevesinin düşük izleme hataları sağladığını göstermektedir. Kontrol çerçevesi öğrenilmiş dalga koşullarında başarılı performans sergilerken, LSTM-MPC daha dinamik deniz durumlarına karşı da uyum yeteneği göstermektedir. Bu bulgular, yüzeye yakın AUV operasyonları için öğrenmeye dayalı öngörülü kontrol stratejilerinin potansiyelini vurgulamaktadır. Gelecek çalışmalarda, gerçek zamanlı uyum sağlamak için çevrimiçi öğrenmenin entegrasyonu ve önerilen yöntem performansının kontrollü bir dalga havuzunda deneysel olarak doğrulanması hedeflenmektedir.

Keywords

Otonom Sualtı Aracı (AUV) , Dalga Kaynaklı Bozucu Etkiler , Uzun Kısa Süreli Bellek (LSTM) , Model Öngörülü Kontrol (MPC) , Dinamik Sistem Modellemesi , Veri Tabanlı Kontrol

Velocity Stabilization of Autonomous Underwater Vehicles (AUVs) under Surface Wave Induced Disturbances Using Long Short-Term Memory (LSTM) Based Model Predictive Control (MPC)

Abstract

Autonomous Underwater Vehicles (AUVs) play a vital role in underwater exploration, scientific research, and offshore operations. However, at shallow depths near the surface, wave-induced disturbances can impair velocity stabilization. This study proposes a data-driven control framework that eliminates the need for complex hydrodynamic modeling or system identification. A Long Short-Term Memory (LSTM)-based Recurrent Neural Network (RNN), trained on simulation data incorporating wave effects, is used to predict the AUV’s velocity responses. These predictions are then utilized within a Model Predictive Control (MPC) framework to generate optimal control signals that compensate for external disturbances. By learning the nonlinear dynamics of the system and environmental interactions directly from input–output data, the proposed method simplifies controller design while ensuring stability under the wave conditions represented in the training data. Simulation results demonstrate that the LSTM-MPC framework yields low tracking errors. While the control scheme performs well under learned wave conditions, it also shows adaptability to more dynamic marine environments. These findings highlight the potential of learning-based predictive control strategies for near-surface AUV operations. Future work will focus on integrating online learning for real-time adaptation and experimentally validating the proposed method in a controlled wave basin.

Keywords

Autonomous Underwater Vehicle (AUV) , Wave Induced Disturbance , Long Short-Term Memory (LSTM) , Model Predictive Control (MPC) , Dynamic System Modeling , Data-Driven Control

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