Multiple input sliding mode control for autonomous diving and steering of underwater vehicles
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Authors
Hawkinson, Todd D.
Subjects
Autonomous Underwater Vehicles
AUV
Guidance Control
AUV
Guidance Control
Advisors
Papoulias, Fotis A.
Date of Issue
1990-12
Date
December 1990
Publisher
Monterey, CA; Naval Postgraduate School
Language
Abstract
Design and analysis of multiple input autopilots using sliding modes in order to achieve accurate horizontal and vertical plane control of an autonomous underwater vehicle over a wide variation of speeds is presented. The simulated vehicle is equipped with two (fore and aft) sets of dive planes and two sets of rudders. In addition, two vertical and two horizontal thrusters are provided for control during low speed or hovering operations. The entire range of vehicle speeds from zero speed hovering to full speed ahead is divided into regions depending on control efficiency. Thrusters are used for low speed hovering, control surfaces for transition speeds. Linear quadratic regulator optimal control techniques coupled with the robustness properties of sliding mode control are utilized to provide the necessary control reversal which occurs during the transition from cruise to hover mode. Constant disturbances arising from underwater currents are effectively compensated resulting in accurate path keeping. As a consequence of the multiple input control methodology developed in this work, it is shown that both path and orientation accuracy can be achieved in moderate cross current environments. Finally, reduced order observers are designed in order to account for sensor absence or malfunction.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Identifiers
NPS Report Number
Sponsors
Funding
Format
xvi, 197 p. ill.
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.