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dc.contributor.advisorHealey, A.J.
dc.contributor.authorMacDonald, Gordon S.
dc.dateMarch 1989
dc.date.accessioned2013-01-23T21:55:59Z
dc.date.available2013-01-23T21:55:59Z
dc.date.issued1989-03
dc.identifier.urihttp://hdl.handle.net/10945/26080
dc.descriptionApproved for public release; distribution is unlimited
dc.description.abstractAutonomous 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.en_US
dc.description.sponsorshipNaval Surface Warfare Center
dc.description.urihttp://archive.org/details/modelbaseddesign00macd
dc.format.extent131 p.: ill.en_US
dc.language.isoen_US
dc.publisherMonterey, California. Naval Postgraduate Schoolen_US
dc.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.en_US
dc.subject.lcshOceanographic submersiblesen_US
dc.titleModel based design and verification of a rapid dive controller for an Autonomous Underwater Vehicleen_US
dc.typeThesisen_US
dc.contributor.corporateNaval Postgraduate School (U.S.)
dc.contributor.departmentMechanical Engineering
dc.subject.authorAutinomous Underwater Vehiclesen_US
dc.subject.authorAutomatic Dive Controlen_US
dc.subject.authorModel Based Compensators.en_US
dc.description.funderNaval Surface Warfare Center
dc.description.funderNaval Postgraduate School
dc.description.serviceCommander, United States Navyen_US
dc.identifier.npsreportNPS 69-89-04
etd.thesisdegree.nameM.S. in Mechanical Engineering and Mechanical Engineeren_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.disciplineMechanical Engineeringen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US


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