Preliminary design and cycle verification of a digital autopilot for Autonomous Underwater Vehicles/

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Authors
Delaplane, Stephen W.
Subjects
Digital Autopilot for Autonomous Underwater Vehicles
Design
Advisors
Healey, Anthony J.
Date of Issue
1988-03
Date
March 1988
Publisher
Language
en_US
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.
Type
Thesis
Description
Series/Report No
Department
Mechanical Engineering
Organization
Naval Postgraduate school
Identifiers
NPS Report Number
Sponsors
Funder
Format
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.
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