Autopilot Design for Autonomous Underwater Vehicles Based on Sliding Mode Control

Abstract

An autopilot is designed using Sliding Mode Control Theory that can control the speed and heading of a full six degree of freedom, nonlinear model that allows speed and heading to be treated as separate systems. Once control of heading and speed is established, depth control is achieved by a third control law. Although they are developed separately, the three individual control laws act simultaneously to provide robust control of speed, heading, and depth of the nonlinear model of the vehicle. Line of Sight Guidance is used to convert the way points provided by the mission planner into commands for heading to which the autopilot responds. The performance of the autopilot is evaluated over a wide range of speeds to demonstrate its robustness. In addition, the effects of current are simulated and the autopilot is modified to compensate for the presence of a strong current.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 1990
Accession Number
ADA231846

Entities

People

  • David E. Lienard

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Weapons Technologies

DTIC Thesaurus Topics

  • Autonomous Underwater Vehicles
  • Cognitive Systems Engineering
  • Control Systems
  • Control Systems Engineering
  • Control Theory
  • Dead Reckoning
  • Depth Control
  • Engineering
  • Engineers
  • Guidance
  • Inertial Navigation
  • Line Of Sight
  • Mechanical Engineering
  • Navigation
  • Nonlinear Dynamics
  • Systems Engineering
  • Underwater Vehicles

Readers

  • Control Systems Engineering.