Publication:
Shallow Water Station-keeping of an Autonomous Underwater Vehicle: The Experimental Results of a Disturbance Compensation Controller

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Authors
Riedel, J.S.
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2000
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2000
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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.
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Conference Paper
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Proceedings of IEEE Oceans 2000, Providence, RI, September 2000
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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,
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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.
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