Slow Speed Flight Control of Autonomous Underwater Vehicles: Experimental Results with NPS AUV II
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.
Description
Proceedings of the Second (1992) International Offshore and Polar Engineering Conference
San Francisco, USA, 14-19 June 1992
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.Collections
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