Real Time Adaptive Control of an Autonomous Underwater Vehicle (AUV)

Abstract

In this research the problem of designing a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques seem to yield satisfactory performance in terms of robustness, capability to adjust to different operating conditions, and speed of response. Also linear robust techniques based on LQG and robust observers are presented to address the case when the whole state (in terms of pitch rate, pitch, and depth) is not available for measurement. Autonomous underwater vehicle; Variable structure control; AUV; Sliding mode control; Doyle-Stein observer; Adaptive control; Thesis; Sea floor mapping; Target identification; Remote reconnaissance; Underwater tracking. (jg)

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 1989
Accession Number
ADA219544

Entities

People

  • Michael H. Davis

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Materials and Manufacturing Processes
  • Weapons Technologies

DTIC Thesaurus Topics

  • Artificial Intelligence
  • Autonomous Underwater Vehicles
  • Computational Science
  • Computer Programming
  • Computer Simulations
  • Computers
  • Control Systems
  • Differential Equations
  • Instruction Set Architecture
  • Kalman Filters
  • Mathematical Filters
  • Mechanical Engineering
  • Neural Networks
  • Nonlinear Dynamics
  • Nonlinear Systems
  • Parallel Computing
  • Unmanned Underwater Vehicles

Fields of Study

  • Engineering

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Robotics and Automation.