Shallow Water Station-keeping of an Autonomous Underwater Vehicle: The Experimental Results of a Disturbance Compensation Controller
Loading...
Authors
Riedel, J.S.
Subjects
Advisors
Date of Issue
2000
Date
2000
Publisher
Language
Abstract
The continual development of computer technology has enabled the expansion of intelligent control into the
field of underwater robots, where potential uses include oceanographic research, environmental
monitoring and military mine countermeasures. With the naval focus shifting to operations in the littorals,
and the need to lower cost of operations, tetherless autonomous vehicles are now being proposed for use in
very shallow water minefield reconnaissance. These areas are dominated by a highly energetic
environment arising from waves and currents. Motion control in such an environment becomes a difficult
task and is the subject of this work. The main objective of this paper is to show that intervention tasks
performed by intelligent underwater robots are improved by their ability to gather, learn and use
information about their working environment. Using a new generalized approach to the modeling of
underwater vehicles, which directly includes disturbance effects, a new Disturbance Compensation
Controller (DCC) is proposed. The DCC, employing onboard vehicle sensors, allows the robot to learn and
estimate the seaway dynamics. This self-derived knowledge is embedded in a non-linear sliding mode
control law which allows significantly improved motion stabilization. The performance of the DCC has been experimentally verified in Monterey Harbor using the NPS Phoenix AUV.
Type
Conference Paper
Description
Proceedings of IEEE Oceans 2000, Providence, RI, September 2000
Series/Report No
Department
Organization
Identifiers
NPS Report Number
Sponsors
Funder
Format
Citation
J. S., Riedel " Shallow Water Station-keeping of an Autonomous Underwater Vehicle: The Experimental Results of a Disturbance Compensation Controller Proceedings of IEEE Oceans 2000, Providence, RI, September 2000,
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.