Underwater Vehicle Maneuvering in Complex Scenarios
Abstract
This research project focuses on the development, implementation, and validation of a reduced order model and robust controllers for, low- and zero-speed maneuvering of underwater vehicles near surface. Computational Fluid Dynamics (CFD) simulations will be employe,d to derive vehicle dynamic models. The primary geometry considered in this project will be the generic submarine Joubert BB2 and wi,ll be used as a basis to design and evaluate control algorithms. Nonlinear controllers will be designed to exhibit robustness proper,ties in the presence of unmodeled dynamics, uncertainties, and disturbance. Emphasis will be placed on controller design for station, keeping near-surface in the presence of waves. The controller will be designed and developed by combining efforts in L1 robust and,adaptive control theory. The solution will be tested using the code REX, developed at The University of Iowa, which offers a unique,platform to perform advanced evaluation of the controller?s performance, byresolving the physics of the hydrodynamics and body motio,ns of the underwater vehicles under investigation while accurately implementing the proposed control architecture. The controllers w,ill also be tested on an additional vehicle platform, namely the 690 AUV, to execute aggressive maneuvers. This platform will demons,trate the flexibility of the controller architecture to handle different dynamics and mission scenarios. Approved for Public Release
Document Details
- Document Type
- DoD Grant Award
- Publication Date
- Aug 05, 2022
- Source ID
- N000142212634
Entities
People
- Venanzio Cichella
Organizations
- Office of Naval Research
- United States Navy
- University of Iowa