Robust path tracking of autonomous underwater vehicles using sliding modes
Chism, Steven R.
Papoulias, Fotis A.
MetadataShow full item record
Accurate track keeping of autonomous underwater vehicles is necessary for the autonomous navigation of a vehicle through confined spaces, and in the presence of obstacles and cross-current environments. Uncertainties in the force coefficients and environmental disturbances, as well as the required accuracy lead to the need for a robust sliding mode control for successful vehicle operations. This thesis investigates the use of a cross track error guidance law with a sliding mode compensator and presents results based on computer simulations using a nonlinear dynamic model of the Swimmer Delivery Vehicle. Steady state errors and stability requirements are evaluated analytically for a given current speed and direction, and are confirmed through numerical integrations. The use of integral control and disturbance estimation and compensation methods are developed in order to achieve the desired steady state accuracy. A leading track control monitoring technique is used to eliminate track overshoot during turning and reduce the rudder activity. Finally, the effects of measurement noise are evaluated and guidelines are developed for suppressing them.
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.
Showing items related by title, author, creator and subject.
Lizarraga, Mariano I. (Monterey California. Naval Postgraduate School, 2004-03);This thesis is part of an ongoing research conducted at the Naval Postgraduate School to achieve the autonomous shipboard landing of Unmanned Aerial Vehicles (UAV). Two main problems are addressed in this thesis. The first ...
INTERACTIVE MAP MAKING FOR ROUTE PLANNING AND OBSTACLE AVOIDANCE IN AN UNSTRUCTURED OUTDOOR ENVIRONMENT Audette, Matthew R. (Monterey, CA; Naval Postgraduate School, 2018-09);As autonomous ground robots fulfill greater roles within the military, there is a requirement for an operator to be able to quickly give minimal route-planning guidance in support of an autonomous mission. The objective ...
Design and integration of a three degrees-of freedom robotic vehicle with control moment gyro for the Autonomous Multiagent Physically Interacting Spacecraft (AMPHIS) testbed Hall, Jason S. (Monterey, California. Naval Postgraduate School, 2006-09);The use of fractionated spacecraft systems in on-orbit spacecraft assembly has the potential to provide benefits to both the defense and civil space community. To this end, much research must be conducted to develop and ...