Incorporating thruster dynamics in the control of an underwater vehicle
Cooke, John G.
MetadataShow full item record
The dynamics of an underwater vehicle are greatly influenced by the dynamics of the thrusters. Precise control, for example to perform repeatable survey or coordinated vehicle/manipulator control, should incorporate knowledge of thruster dynamic behavior. An energy-based lumped parameter model of the nonlinear thruster dynamic response is developed and experimentally verified using static and dynamic thruster relationships. Three controllers to compensate for the nonlinear dynamics are designed including analog lead compensation, model-based computed torque and adaptive sliding control techniques. The proposed controller designs are implemented and evaluated in a hybrid, one degree-of-freedom vehicle simulation using an actual thruster under digital control as the actuator. Controller evaluation and comparison is based on observed vehicle tracking performance. The incorporation of thruster dynamics is shown to significantly improve vehicle tracking performance. Superior, robust tracking performance with significant model uncertainty is demonstrated in the application of the adaptive sliding control technique. The evaluated adaptive controller structure may permit on-line adaptation to complex hydrodynamic phenomena associated with complete vehicle/thruster configurations such as cross-flow and mutual interference.
Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution September 1989
Showing items related by title, author, creator and subject.
Six degree of freedom vehicle controller design for the operation of an unmanned underwater vehicle in a shallow water environment Hajosy, Michael F. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1994-09)Closed loop control of an unmanned underwater vehicle (UUV) in the dynamically difficult environment of shallow water requires explicit consideration of the highly coupled nature of the governing non-linear equations of ...
Shah, Vikrant P. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2007-06)Autonomous Underwater Vehicles (AUVs) have been established as a viable tool for Oceanographic Sciences. Being untethered and independent, AUVs fill the gap in Ocean Exploration left by the existing manned submersible ...
Bahr, Alexander (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2009-02)Self-localization of an underwater vehicle is particularly challenging due to the absence of Global Positioning System (GPS) reception or features at known positions that could otherwise have been used for position ...