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dc.contributor.authorMarco, D.B.
dc.contributor.authorHealey, A.J.
dc.dateMay 4-7, 1992
dc.date.accessioned2016-06-15T16:23:43Z
dc.date.available2016-06-15T16:23:43Z
dc.date.issued1992-05
dc.identifier.urihttp://hdl.handle.net/10945/48945
dc.description24th Annual Offshore Technology Conference (OTC) in Houston, Texas, May 4-7, 1992en_US
dc.description.abstractCurrently in use at the Naval Postgraduate School is a fully functional experimental autonomous underwater vehicle (AUV). The vehicle serves as a test bed for research in autonomous control, autonomous obstacle avoidance, automatic fault detection, guidance and control at slow speed. It measures over seven feet (two meters) in length and weights about 430 pounds (215 kg). Maneuvering control is provided by four rudders and dive planes, has twin propulsion motors, and onboard sensors for speed, depth, angular rates and positions and four ultrasonic sensors for range information. All shipboard action is controlled by a 68030 microprocessor running under an OS-9 operating system and a G-96 bus with code written in 'C' language. All systems are powered by a lead acid gell batteries for a test mission duration of about two hours. This paper presents some experimental modeling results upon which computer simulations of the dynamic positioning performance are based. Details are given of the vehicle modeling, the influence of thruster dynamic lags, Sliding Mode control design including integral control for the compensation of ocean current effects, and a Kalman filter design for the estimation of target range and velocity from noisy sonar data. The filter can remove transient fault anomalies which are common in sonar data.en_US
dc.description.sponsorshipNaval Postgraduate School Direct Research Funden_US
dc.description.sponsorshipOffice of Naval Technologyen_US
dc.format.extent11 p.en_US
dc.publisherOffshore Technology Conferenceen_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.titleSliding Mode Acoustic Servoing for an Autonomous Underwater Vehicleen_US
dc.typeConference Paperen_US
dc.contributor.corporateNaval Postgraduate School (U.S.)en_US
dc.description.funderNaval Postgraduate School Direct Research Funden_US
dc.description.funderOffice of Naval Technologyen_US


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