A Study of Model Based Maneuvering Controls for Autonomous Underwater Vehicles

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1987
Accession Number
ADA189085

Entities

People

  • Richard J. Boncal

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Ground and Sea Platforms
  • Weapons Technologies

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Closed Loop Systems
  • Collision Avoidance
  • Computer Programming
  • Control Surfaces
  • Control Systems
  • Coordinate Systems
  • Depth Control
  • Engineering
  • Equations
  • Equations Of Motion
  • Feedback
  • Mechanical Engineering
  • Simulations
  • Underwater Vehicles
  • Unmanned Systems
  • Unmanned Underwater Vehicles

Readers

  • Finite Element Method (FEM) for solving Partial Differential Equations (PDEs)
  • Robotics and Automation.
  • Systems Analysis and Design