A microcomputer-based controller for an Autonomous Underwater Vehicle (AUV)
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Authors
Riling, William D.
Subjects
Advisors
Cristi, Roberto
Date of Issue
1990-03
Date
March 1990
Publisher
Monterey, California. Naval Postgraduate School
Language
en_US
Abstract
Considerations of real-time control problems for an Autonomous Underwater Vehicle (AUV) are addressed in this research. Among these problems is the ability to control the submersible given its highly nonlinear operation environment. In order to account for these variations, robust control techniques must be used. In particular, Variable Structure Control (VSC) with Doyle-Stein Observer has proven to produce optimal results while maintaining a high degree of robustness. This led to the development of a real-time error detector using the robust observer to provide system redundancy through software. The culmination of this work is a real-time autopilot written in the "C" language which is ready for implementation and testing in the Naval Postgraduate School AUV prototype. We also address the aspect of real-time signal processing and conditioning in terms of Synchro-toResolver Conversion and anti-aliasing filters. The synchro problem involves converting a nonpotentiometric directional gyro output to a natural binary format which calls for an intricate design of power transformers, analog-to-digital converter, and passive element components. Lastly, the use of Generalized-Immittance Converter circuitry in the design of very low frequency anti-aliasing filter applications is developed and tested.
Type
Thesis
Description
Series/Report No
Department
Department of Electrical and Computer Engineering
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Funder
Format
xi, 147 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.