An attempt was made to solve a spectrum of extremely challenging problems in nonlinear autopilot design for current and next generation underwater vehicles. A complete nonlinear model enabled to analyze the vehicle performance and solve a spectrum of problems in virtual prototyping. The modeling and simulation problems were divided into the derivation of the equations which govern the motion of the rigid-body vehicle dynamics and sub-systems behavior, identification of actuators and motor-propulsor parameters, analytical and numerical analysis, as well as computational solution of the system of differential equations. The required vehicle performance in the specified operating envelopes was achieved using control algorithms.


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    Title :

    Autopilot design for highly maneuverable multipurpose underwater vehicles


    Contributors:

    Published in:

    Publication date :

    2001


    Size :

    6 Seiten, 10 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English