Model Based Design and Verification of a Rapid Dive Controller for an Autonomous Underwater Vehicle
Abstract
Autonomous underwater vehicles are being considered today by many organizations as a low cost substitute for manned vehicles. Requirements for autonomy emphasize the need for a robust system controller that can adequately maneuver the vehicle and ensure precise tracking of a planned path. This thesis presents the determination of hydro-dynamic coefficients for vertical motion of a radio controlled underwater vehicle based on open loop testing. The equations of motion were manipulated using software Matrix-x to create satisfactory closed loop control system for rapid maneuvering in the vertical plane. Because vehicle data provided by on-board sensors was limited, both state estimation and disturbance estimation/compensation techniques were used, leading to a model based compensator which enhanced control. Results show that a satisfactory closed loop control design can be achieved using these modern controller design techniques. The extension to the design of steering control is addressed.
Document Details
- Document Type
- Technical Report
- Publication Date
- Mar 01, 1989
- Accession Number
- ADA209161
Entities
People
- Gordon S. Macdonald
Organizations
- Naval Postgraduate School