AUV (Autonomous Underwater Vehicle) Dive Control System Development Including Sensor Bias Compensation and Parameter Estimation

Abstract

The crux of this thesis is to develop, test and evaluate a real- time state-space derived dive plane controller for the NPS prototype Autonomous Underwater Vehicle (AUV). The U.S. Navy and a number of its contractors are presently developing unmanned miniature submarines for several vital underwater missions. These include surveillance, submarine tracking, and bottom mapping. Foregoing Research at NPS produced a testbed as a research platform for demonstrating the performance of AUVs. Combining the power of an IBM PC/AT in conjunction with a high level programming language, a state space dive control system was developed and instituted for the 30 inch AUV model. Parameter Estimation using a Recursive Least Squares Fit scheme and a State Observer were incorporated in the controller. Procedures dealing with hardware/software interfacing, AUV simulation analysis, and computation speed of large programming code were investigated. Keywords: Analog simulators, Digital control programs, Closed loops. Theses.

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Document Details

Document Type
Technical Report
Publication Date
Dec 01, 1988
Accession Number
ADA206178

Entities

People

  • Gerard J. Reina

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Materials and Manufacturing Processes
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Analog Computers
  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • Closed Loop Systems
  • Collision Avoidance
  • Computer Programming
  • Computer Science
  • Computers
  • Control Surfaces
  • Control Systems
  • Diagrams
  • Engineering
  • Equations Of Motion
  • Mechanical Engineering
  • Navigation
  • Programming Languages
  • Underwater Vehicles

Readers

  • Computer Science.
  • Robotics and Automation.

Technology Areas

  • Autonomy
  • Autonomy - Autonomous System Control
  • Space
  • Space - Satellites
  • Space - Spacecraft Maneuvers