Model based design and verification of a rapid dive controller for an Autonomous Underwater Vehicle
MacDonald, Gordon S.
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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.
RightsThis 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 NumberNPS 69-89-04
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