Model based design and verification of a rapid dive controller for an Autonomous Underwater Vehicle

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Author
MacDonald, Gordon S.
Date
1989-03Advisor
Healey, A.J.
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Show full item recordAbstract
Autonomous Undervvater Vehicles are being considered
today by many organizations as a lovv cost substitute for
manned vehicles. Requirements forautonomy emphasize
the need for a robust system controller that can adequately
tnaneuver the vehicle and ensure precise tracking of a
planned path. This thesis presents the determination of
hydrodynamic coefficients for vertical motion of a radio
controlled undervvater vehicle based on open loop testing.
The equations of motion vvere manipulated using softvvare
Matrix-x to create a satisfactory closed loop control system
for rapid maneuvering in the vertical plane. Because
vehicle data provided by on-board sensors vvas limited, both
state estimation and disturbance estimation/compensation
techniques vvere used, leading to a model based compensator
vvhich enhanced control. Results shovv that a satisfactory
closed loop controldesign can be achieved using these
modern controller design techniques. The extension to the
design of steering control is addressed.
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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.NPS Report Number
NPS 69-89-04Collections
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