Experimental verification of AUV performance
By: Glenn M. Brunner
Contributors: Naval Postgraduate School (U.S.)
Publisher: Naval Postgraduate School
Published: 1988
Place of publication: Monterey, California
Language: eng
Number of pages: 143
Subjects: Mechanical engineering
Description: System identification for an Autonomous Underwater Vehicle model design is performed using Recursive Least Squares to provide a best fit discretized transfer function between dive plane command signals and vehicle response data. The data was provided by constructing a radio controlled vehicle model and performing vertical plane maneuvers in a water tank. The analog input and output signals were digitized and recorded. The vehicle design, sensor calibration, and resulting responses are discussed. Vertical plane equations of motion were derived and theoretical plant models formulated. Also, analog controller designs were performed based on the theoretical plant models. This study will lead to adaptive model controllers for the future. Keywords: Theses; Performance tests.
Notes: Thesis advisor(s): Healey, Anthony J.

"March 1988."

DTIC Descriptor(s): Analog Systems, Control Systems, Underwater Vehicles, Adaptive Control Systems, Calibration, Control, Detectors,  Diving, Equations, Identification, Input, Least Squares Method, Maneuvers, Models, Performance Tests, Radio Equipment, Recursive Functions, Response, Signals, Theses, Transfer Functions, Vehicles, Vertical Orientation, Water Tanks.

Author(s) subject terms: Autonomous Underwater Vehicle, AUV, Experimental Model Performance Test, Classical Controller Design.

Thesis (M.S. in Mechnical Engineering and Mechanical Engineer)--Naval Postgraduate School, March 1988.

Includes bibliographical references.

"Approved for public release, distribution ulimited"--Cover.

Also available online.

Mode of access: World Wide Web.

System requirements: Adobe Acrobat Reader.

US Navy (USN) author.

dk/ record upgraded 09/09/09