Sliding Mode Acoustic Servoing for an Autonomous Underwater Vehicle
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Authors
Marco, D.B.
Healey, A.J.
Subjects
Advisors
Date of Issue
1992-05
Date
May 4-7, 1992
Publisher
Offshore Technology Conference
Language
Abstract
Currently in use at the Naval Postgraduate School is a fully functional experimental autonomous underwater vehicle (AUV). The vehicle serves as a test bed for research in autonomous control, autonomous obstacle avoidance, automatic fault detection, guidance and control at slow speed. It measures over seven feet (two meters) in length and weights about 430 pounds (215 kg). Maneuvering control is provided by four rudders and dive planes, has twin propulsion motors, and onboard sensors for speed, depth, angular rates and positions and four ultrasonic sensors for range information. All shipboard action is controlled by a 68030 microprocessor running under an OS-9 operating system and a G-96 bus with code written in 'C' language. All systems are powered by a lead acid gell batteries for a test mission duration of about two hours.
This paper presents some experimental modeling results upon which computer simulations of the dynamic positioning performance are based. Details are given of the vehicle modeling, the influence of thruster dynamic lags, Sliding Mode control design including integral control for the compensation of ocean current effects, and a Kalman filter design for the estimation of target range and velocity from noisy sonar data. The filter can remove transient fault anomalies which are common in sonar data.
Type
Conference Paper
Description
24th Annual Offshore Technology Conference (OTC) in Houston, Texas, May 4-7, 1992
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Naval Postgraduate School Direct Research Fund
Office of Naval Technology
Office of Naval Technology
Funder
Naval Postgraduate School Direct Research Fund
Office of Naval Technology
Office of Naval Technology
Format
11 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.