This paper describes the estimation of hydrodynamic coefficients and the control algorithm based on a nonlinear mathematical modeling for a test bed AUV (autonomous underwater vehicle) named by SNUUV I (Seoul National University Underwater Vehicle I). A six degree of freedom mathematical model for SNUUV I is derived with linear and nonlinear hydrodynamic coefficients, which are estimated with the help of a potential code and also the system identification using multi-variable regression. A navigation algorithm is developed using three ranging sonars, pressure sensor and two inclinometers keeping towing tank applications in mind. Based on the mathematical model, a simulation program using a model-based control algorithm is designed for heading control and wall following control of SNUUV I. It is demonstrated numerically that the navigation system together with controller guides the vehicle to follow the desired heading and path with a sufficient accuracy. Therefore the model-based control algorithm can be designed efficiently using the system identification method based on vehicle motion experiments with the appropriate navigation system.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Analysis on the controlled nonlinear motion of a test bed AUV-SNUUV I


    Weitere Titelangaben:

    Analyse der gesteuerten nichtlinearen Bewegung des autonomen Unterwasserfahrzeugs SNUUV I


    Beteiligte:
    Kim, Kihun (Autor:in) / Choi, Hang S. (Autor:in)

    Erschienen in:

    Ocean Engineering ; 34 , 8-9 ; 1138-1150


    Erscheinungsdatum :

    2007


    Format / Umfang :

    13 Seiten, 13 Quellen




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch




    Statistical Analysis of a Controlled Motion

    Malyshev, V. V. / Bobronnikov, V. T. / Krasilshikov, M. N. et al. | British Library Conference Proceedings | 2000


    CONTROLLED MOTION SYSTEM

    JACOBS KEITH | Europäisches Patentamt | 2017

    Freier Zugriff


    Relative motion release device for nonlinear wave load test under head wave

    LIU ZHENGGUO / WANG YIWEN / YANG LONG et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    Motion-Controlled Pneumatic Stabilized Platform

    Europäisches Patentamt | 2023

    Freier Zugriff