A study of model based maneuvering controls for autonomous underwater vehicles
By: by Richard J. Boncal
Published: 1987
Language: eng
Format: [electronic resource] /
Number of pages: 136
Subjects: Computer simulation; Remote submersibles
Description: Autonomous Underwater Vehicles (AUV) are being considered by the U.S. Navy for a variety of missions. Requirements for autonomy reinforce the need for a robust maneuvering controller that can ensure accurate tracking of a planned path. Model reference controllers (MRC) have been employed in situations where accurate tracking is desired and where plant parameters change with operating conditions. Because underwater vehicles are highly non-linear, it is conjectured that an MRC will provide improved tracking performance for AUVs. This thesis presents the results of a simulation study in which the dynamics of a submersible are modeled using a modified version of the DTNSRDC 2510 equations of motion. A linearized version of these equations serves as the reference model and provides the basis for the design of feedforward and feedback elements of the controller. Results show that for dive plane maneuvers, accurate tracking of the planned path can be achieved for a moderately wide range of vehicle speeds.
Notes: Thesis advisor, Anthony J. Healey.

Available from National Technical Information Service, Springfield, Va.

Thesis (M.S. in Mechanical Engineering and Mechanical Engineer) Naval Postgraduate School, Dec. 1987.

Includes bibliographical references (p. 233-134).

Also available online.

System requirements: Adobe Acrobat Reader.

US Navy (USN) author.

Record updated 02/14/05.  PA.