Modeling and control of an autonomous underwater vehicle with combined foil/thruster actuators
Jakuba, Michael V.
MetadataShow full item record
The Sentry AUV represents a radical departure from conventional AUV design, particularly with respect to actuation. The vehicle's combined foil/thruster actuators have the potential to produce a vehicle both maneuverable in the veritical plane and efficient in forward flight, well suited to survey work over rough topography. Capitalizing on this; however, requires an understanding of the vehicles dynamics. In this work, we present the development and analysis of an analytic model of the Sentry AUV. Our goals were to develop a model sufficiently accurate in terms of the mission profile to identify critical vehicle behaviors influencing successful mission completion. The analytical vehicle model was developed with structural accuracy in mind, and under the requirement that it handle a large range of vertical plane velocities, Our primary methodology for analysis was through the design of a linear controller, whose behavior was investigated in simulation and as implemented on a 1/4-scale physical model. Based on decoupled linearized models for near-horizontal flight derived from the full non-linear model, classical linear controllers were designed and validated by simulation and implementation on the physical model. Closed loop simulations conducted at high angle of attack verified the vehicle's predicted maneuverability in the vertical plane. Ultimately we determined the vehicle's input structure limited the achievable performance of a classical linear controller.
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 February 2003
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 ...
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 ...
D’Epagnier, Kathryn Port (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2007-09)An open source, MATLAB™-based propeller design code MPVL was improved to include rapid prototyping capabilities as well as other upgrades as part of this effort. The resulting code, OpenPVL is described in this thesis. ...