Slow Speed Flight Control of Autonomous Underwater Vehicles: Experimental Results with NPS AUV II

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Authors
Healey, A.J.
Marco, D.B.
Subjects
Advisors
Date of Issue
1992-06
Date
June 14-19 1992
Publisher
The International Society of Offshore and Polar Engineers
Language
Abstract
A six degree of freedom model for the maneuvering of an underwater vehicle 15 discussed in which the hydrodynamic force coefficients are scaled from previous studies of a Swimmer Delivery Vehicle, and traditional as well as Sliding Mode controllers are designed for the steering, diving, and speed control functions. In slow speed flight control applications of this kind, difficulties arise because the system to be controlled is highly non-linear, coupled, and there is a good deal of parameter variation with operational conditions. The uncertainty in force coefficients and disturbances make control difficult. This paper presents an outline of the controller design methodology, a description of the testbed vehicle and a discussion of experimental flight control results for way point following, bottom following, and sonar mapping of the surrounding environment. It shows that a multivariable autopilot based on state feedback, designed assuming decoupled modeling, is quite satisfactory for the combined speed, steering and diving response of a slow speed AUV enabling autonomous missions to be planned.
Type
Conference Paper
Description
Proceedings of the Second (1992) International Offshore and Polar Engineering Conference San Francisco, USA, 14-19 June 1992
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
Naval Postgraduate School Direct Research Fund under the technical sponsorship of the Naval Surface Warfare Center
White Oak Laboratories
Office of Naval Technology
Funder
Naval Postgraduate School Direct Research Fund under the technical sponsorship of the Naval Surface Warfare Center
White Oak Laboratories
Office of Naval Technology
Format
10 p.
Citation
Distribution Statement
Rights
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.
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