AUV steering parameter identification for improved control design
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Authors
Johnson, Jay H.
Subjects
Advisors
Healey, Anthony J.
Date of Issue
2001-06
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
Any effort to provide precision control for an Autonomous Underwater Vehicle requires an accurate estimation of both the vehicles physical and hydrodynamic parameters. Here a vehicle model for controlled steering behaviors was developed and the hydrodynamic parameters were calculated from actual data obtained from operation. The steering equation parameters are based on a least squares fit to sideslip and turn rate data using maximum likelihood of batch processing. In this way, a more accurate simulation has been found for the development of a track controller that stably drives the vehicle between mission waypoints. Prediction accuracy of the model was better than ninety-five percent over the data set used.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
x, 58 p. ;
Citation
Distribution Statement
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.