Naval Postgraduate School
Preliminary design and cycle verification of a digital autopilot for Autonomous Underwater Vehicles/
preliminarydesig00dela.pdf (3.273Mb)Abstract
Autonomous Underwater Vehicles (AUV's) are being
considered for a diversity of U.S. Navy missions. They
protend the advantages of cost effective fleet mUltiplication,
minimal detectability, and reduced risk to personnel
and high-value fleet assets. In response to the Department
of the Navy and DARPA interests, AUV research and
development by a number of pUblic and private sector
organizations has intensified in recent years. The Naval
Postgraduate School has now built the first of a series of
AUV models which will be used as "test-beds" for evolving
automated control technologies. This thesis documents the
results of initial efforts to install an on-site facility to
support the design and development of a model-based digital
autopilot for control of the NPS test vehicle. using an IBM
PC/AT and analog-digital interfacing, the development
methodology has been implemented and verified by a
simplified model reference control program for AUV dive
plane commands.
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