Autonomous underwater vehicles are being considered today by many organizations as a low cost substitute for manned vehicles. Requirements for autonomy emphasize the need for a robust system controller that can adequately maneuver the vehicle and ensure precise tracking of a planned path. This thesis presents the determination of hydro-dynamic coefficients for vertical motion of a radio controlled underwater vehicle based on open loop testing. The equations of motion were manipulated using software Matrix-x to create satisfactory closed loop control system for rapid maneuvering in the vertical plane. Because vehicle data provided by on-board sensors was limited, both state estimation and disturbance estimation/compensation techniques were used, leading to a model based compensator which enhanced control. Results show that a satisfactory closed loop control design can be achieved using these modern controller design techniques. The extension to the design of steering control is addressed. Keywords: Autonomous underwater vehicles; Automatic dive control; Model based compensators; Military theses. (kt)


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    Titel :

    Model Based Design and Verification of a Rapid Dive Controller for an Autonomous Underwater Vehicle


    Beteiligte:

    Erscheinungsdatum :

    1989


    Format / Umfang :

    140 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch





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