Autopilot design for autonomous underwater vehicles based on sliding mode control
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Authors
Lienard, David E.
Subjects
Autonomous
Underwater vehicles
AUV
Guidance
Control
Underwater vehicles
AUV
Guidance
Control
Advisors
Papoulias, Fotis A.
Healey, Anthony J.
Date of Issue
1990-06
Date
June 1990
Publisher
Monterey, California: Naval Postgraduate School
Language
Abstract
An autopilot is designed using Sliding Mode Control Theory that can control the speed and heading of a full six degree of freedom, nonlinear model that allows speed and heading to be treated as separate systems. Once control of heading and speed is established, depth control is achieved by a third control law. Although they are developed separately, the three individual control laws act simultaneously to provide robust control of speed, heading, and depth of the nonlinear model of the vehicle. Line of Sight Guidance is used to convert the way points provided by the mission planner into commands for heading to which the autopilot responds. The performance of the autopilot is evaluated over a wide range of speeds to demonstrate its robustness. In addition, the effects of current are simulated and the autopilot is modified to compensate for the presence of a strong current.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
viii, 120 p. ill.
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.