Mine avoidance and localization for underwater vehicles using continuous curvature path generation and non-linear tracking control
Cottle, Dean J.
Healey, Anthony J.
MetadataShow full item record
Many underwater vehicles have been designed to follow a straight path using linear approximations about that path. Tracking a dynamic path of arbitrary but continuous curvature may often be desired. This will require a nonlinear controller with enhanced robustness properties. One point of this thesis is to show how nonlinear control using sliding modes may be applied to follow a dynamic path. In a mine warfare setting using Autonomous Underwater Vehicles (AUVs), reflexive maneuvers will be required for mine avoidance. This thesis presents one way in which paths for mine avoidance maneuvers may be generated automatically and used as inputs to the nonlinear tracking control system of the vehicle. It has been shown through simulation that a random minefield can be traversed by an AUV while localizing and avoiding detected mines using these control concepts.
Approved for public release; distribution is unlimited
Showing items related by title, author, creator and subject.
Wright, Steven Roland (Monterey, California. Naval Postgraduate School, 1992-06);An investigation of inertial coupling and its contribution to wing rock in the F-14A aircraft has been conducted. Wind tunnel data was used to obtain the stability parameters for angles of attack from zero to 25 degrees, ...
Grennek, David S. (Monterey, California. Naval Postgraduate School, 1998-12-01);The nonlinear optical loop mirror (NOLM) configuration has been studied extensively within the context of pulsed and/or quasi-CW laser sources. As such, the NOLM holds great promise in the areas of soliton switching, pulse ...
Laird, Anne Marie (Monterey, California. Naval Postgraduate School, 2006-12);Amphibious landings and small boat operations are normally conducted only in benign wave conditions. An unexpected encounter with an isolated freak wave may damage equipment and prevent mission accomplishment. This study ...