Real time Adaptive Control of an Autonomous Underwater Vehicle (AUV)
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Author
Publication
1989 - Naval Postgraduate School, Monterey, Calif, California
Language
English
Word Count
15,250 words, Guess
Page Count
61 pages
Identifiers
- Open LibraryOL25518037M
- OCLC Control Numberrealtimeadaptive00davi
Description
In this research the problem of designing a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques seem to yield satisfactory performance in terms of robustness, capability to adjust to different operating conditions, and speed of response. Also linear robust techniques based on LQG and robust observers are presented to address the case when the whole state (in terms of pitch rate, pitch, and depth) is not available for measurement. Autonomous underwater vehicle; Variable structure control; AUV; Sliding mode control; Doyle-Stein observer; Adaptive control; Thesis; Sea floor mapping; Target identification; Remote reconnaissance; Underwater tracking.
Subjects
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