Model based design and verification of a rapid dive controller for an Autonomous Underwater Vehicle
By: by Gordon S. MacDonald
Contributors: Healey, Anthony J.
Publisher: Naval Postgraduate School
Published: 1989
Place of publication: Monterey, Calif
Language: eng
Number of pages: 131
Subjects: Remotely piloted Vehicles; Oceanographic submersibles; Design and construction
Other titles: NPS-69-89-04.
Description: Autonomous underwater vehicles are being considered today by many organizations as a low cost substitute for manned vehicles. Requirements for autonomy emphasize the need for a robust system controller that can adequately maneuver the vehicle and ensure precise tracking of a planned path. This thesis presents the determination of hydro-dynamic coefficients for vertical motion of a radio controlled underwater vehicle based on open loop testing. The equations of motion were manipulated using software Matrix-x to create satisfactory closed loop control system for rapid maneuvering in the vertical plane. Because vehicle data provided by on-board sensors was limited, both state estimation and disturbance estimation/compensation techniques were used, leading to a model based compensator which enhanced control. Results show that a satisfactory closed loop control design can be achieved using these modern controller design techniques. The extension to the design of steering control is addressed. Keywords: Autonomous underwater vehicles; Automatic dive control; Model based compensators; Military theses.
Notes: Thesis advisor(s):Healey, Anthony.

"March 1989."

NPS-69-89-04.

DTIC Descriptor(s): Underwater Navigation, Underwater Vehicles, Automatic, Closed Loop Systems, Compensation, Compensators, Control, Control Systems, Detectors, Diving, Equations Of Motion, Estimates, Low Costs, Maneuverability, Maneuvers, Manned, Models, Motion, Onboard, Open Loop Systems, Precision, Steering, Substitutes, Test And Evaluation, Theses, Tracking, Vehicles, Vertical Orientation.

DTIC Indicators: Autonomous underwater vehicle.

Author(s) subject terms: Autinomous Underwater Vehicles, Automatic Dive Control, Model Based Compensators.

Thesis (M.S. in Mech. Engineering and Mech. Engineer) Naval Postgraduate School, Mar. 1989.

Includes bibliographical references.

"Approved for public release; distribution is unlimited--Cover."

Also available online.

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