Maneuvering Performance of Autonomous Underwater Vehicles

Abstract

High-fidelity linear pitch and yaw dynamic models were developed for a class of autonomous underwater vehicles manufactured by Bluefin Robotics Corporation, based on analysis and field data. Classical control design was then carried out and successfully tested. An algorithm for automatic identification of these models, followed by automatic specification of gains, was developed and delivered to Bluefin. We also created modeling and control schemes for the ONR hovering autonomous underwater vehicle (HAUV), that was developed jointly by MIT and Bluefin; this vehicle has now successfully performed hull surveys on five vessels. Finally, we have applied stochastic simulation techniques to general control problems (which include vehicle maneuvering), illustrating new methods for assessing basic stability and for performing control gain selection in nonlinear systems.

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Document Details

Document Type
Technical Report
Publication Date
Apr 28, 2006
Accession Number
ADA446746

Entities

People

  • Franz S. Hover

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms
  • Materials and Manufacturing Processes

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Underwater Vehicles
  • Autonomous Vehicles
  • Closed Loop Systems
  • Control Systems
  • Control Systems Engineering
  • Engineering
  • Flight
  • Hovering
  • Identification
  • Inertial Measurement Units
  • Mechanical Engineering
  • Navigation
  • Nonlinear Systems
  • Simulations
  • Underwater Vehicles
  • Vehicles

Readers

  • Adaptive Control and Estimation with Uncertainty in Dynamic Systems.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Machine Learning Algorithms
  • Autonomy
  • Autonomy - Autonomous System Control