Real time Adaptive Control of an Autonomous Underwater Vehicle (AUV)
By: Michael H. Davis
Publisher: Naval Postgraduate School
Published: 1989
Place of publication: Monterey, Calif
Language: eng
Number of pages: 61
Description: In this research the problem of designing a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques seem to yield satisfactory performance in terms of robustness, capability to adjust to different operating conditions, and speed of response. Also linear robust techniques based on LQG and robust observers are presented to address the case when the whole state (in terms of pitch rate, pitch, and depth) is not available for measurement. Autonomous underwater vehicle; Variable structure control; AUV; Sliding mode control; Doyle-Stein observer; Adaptive control; Thesis; Sea floor mapping; Target identification; Remote reconnaissance; Underwater tracking.
Notes: Thesis advisor,  Cristi, Roberto.

"September 1989."

Thesis (M.S. in Electrical Engineering and Electrical Engineer) Naval Postgraduate School, Sept. 1989.

Includes bibliographical references.

"Approved for public release; distribution is unlimited"--Cover.

Also available online

Mode of access: World Wide Web.

System requirements: Adobe Acrobat Reader.

US Navy (USN) author.