MODELING AND IMPLEMENTATION OF A SPHERICAL UUV PLATFORM CONTROL SYSTEM FOR LITTORAL AND CONFINED-SPACE OPERATIONS
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Authors
Coleman, Matthew J.
Subjects
AUV
UUV
WIEVLE
modeling
control
spherical
underwater
vehicle
autonomous undersea vehicle
unmanned underwater vehicle
Wreck Interior Exploration Vehicle
UUV
WIEVLE
modeling
control
spherical
underwater
vehicle
autonomous undersea vehicle
unmanned underwater vehicle
Wreck Interior Exploration Vehicle
Advisors
Calusdian, James
Date of Issue
2023-09
Date
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
Unmanned underwater vehicles (UUVs) offer a unique opportunity to safely explore areas too dangerous for human divers. The purpose of this research is to model and implement a robust closed-loop control method for the Wreck Interior Exploration Vehicle (WIEVLE), a novel UUV conceptualized, built, and tested exclusively on the Naval Postgraduate School campus. This work builds on previous open-loop testing and experimentation by a capstone Systems Engineering team of students in 2020. Expanding on their work, a MATLAB/Simulink simulation was created to test the proposed control scheme. To validate computer modeling results, the Pixhawk drone autopilot feasibility was tested as a commercial off the shelf solution for control. Due to the constraints of the autopilot, it was deemed infeasible for use in this application. We suggest as future work another approach that was unable to be implemented prior to release.
Type
Thesis
Description
Series/Report No
Department
Electrical and Computer Engineering (ECE)
Organization
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NPS Report Number
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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.