Motion Prediction and Control for Submarines in High Sea States
Abstract
Advanced Mobility is a critical research area under the Naval S and T Focus Area of Platform Design and Survivability. Enhanced mobility is a key objective in the design of new platforms, but one may also enhance mobility of existing platforms through advanced modeling and control, enabling current assets to operate within larger environmental envelopes. This effort - a collaboration with the Australian Defence Science and Technology (DS and T) Group, organized under the auspices of The Technical Cooperation Program (TTCP) - concerns submarine maneuvering in elevated sea states. In this scenario, advanced modeling and control can improve disturbance rejection and maneuvering performance, enabling new mission capabilities for operations at or near the surface. The goal of this effort is to critically assess the effectiveness of energy-based nonlinear control approaches for motion control of a submarine in high sea states. More specifically, the team will work to develop a parametric model structure that faithfully represents the motion of a submarine maneuvering in a seaway but is amenable to nonlinear control design, to design a model-based predictive motion control law and to assess the performance of this autopilot design by comparing its performance to conventional designs The specific objectives of the collaboration are: To develop theory and methods to obtain energy-based parametric models for submarine maneuvering in high sea states for use in motion prediction and control; To validate the proposed models with experimental data; To demonstrate the use of these parametric models for motion prediction; To develop robust, predictive, energy-based motion control algorithms; To compare the performance of these nonlinear controllers with the performance of controllers developed using linear methods.
Document Details
- Document Type
- Technical Report
- Publication Date
- Aug 21, 2020
- Accession Number
- AD1114094
Entities
People
- Craig A Woolsey
Organizations
- Virginia Tech