AUV Steering Parameter Identification for Improved Control Design

Abstract

Any effort to provide precision control for an Autonomous Underwater Vehicle requires an accurate estimation of both the vehicles physical and hydrodynamic parameters. Here a vehicle model for controlled steering behaviors was developed and the hydrodynamic parameters were calculated from actual data obtained from operation. The steering equation parameters are based on a least squares fit to sideslip and turn rate data using maximum likelihood of batch processing. In this way, a more accurate simulation has been found for the development of a track controller that stably drives the vehicle between mission waypoints. Prediction accuracy of the model was better than ninety-five percent over the data set used.

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Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2001
Accession Number
ADA397498

Entities

People

  • Jay H. Johnson

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

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

DTIC Thesaurus Topics

  • Accuracy
  • Autonomous Underwater Vehicles
  • Control Systems
  • Data Analysis
  • Data Sets
  • Engineering
  • Equations
  • Equations Of Motion
  • Fluid Mechanics
  • Identification
  • Measurement
  • Mechanical Engineering
  • Moment Of Inertia
  • Simulations
  • Underwater Vehicles
  • Unmanned Underwater Vehicles
  • Vehicles

Readers

  • Computational Modeling and Simulation
  • Regression Analysis.
  • Robotics and Automation.