Experimental Verification of AUV (Autonomous Underwater Vehicle) Performance.

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1988
Accession Number
ADA193843

Entities

People

  • Glenn M. Brunner

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

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

DTIC Thesaurus Topics

  • Analog Computers
  • Autonomous Underwater Vehicles
  • Computer Programs
  • Computers
  • Construction
  • Control Panels
  • Control Surfaces
  • Electronic Circuits
  • Engineers
  • Measurement
  • Mechanical Engineering
  • Naval Architecture
  • Pressure Distribution
  • Test And Evaluation
  • Test Facilities
  • Underwater Vehicles
  • Unmanned Systems

Fields of Study

  • Engineering

Readers

  • Computational Modeling and Simulation
  • Computer Science/Computer Engineering/Data Science/Digital Signal Processing.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.