• Login
    About WHOAS
    View Item 
    •   WHOAS Home
    • Woods Hole Oceanographic Institution
    • Academic Programs
    • WHOI Theses
    • View Item
    •   WHOAS Home
    • Woods Hole Oceanographic Institution
    • Academic Programs
    • WHOI Theses
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of WHOASCommunities & CollectionsBy Issue DateAuthorsTitlesKeywordsThis CollectionBy Issue DateAuthorsTitlesKeywords

    My Account

    LoginRegister

    Statistics

    View Usage Statistics

    System identification and state reconstruction for autonomous navigation of an underwater vehicle in an acoustic net

    Thumbnail
    View/Open
    Morrison_thesis.pdf (36.63Mb)
    Date
    1994-01
    Author
    Morrison, Archie T.  Concept link
    Metadata
    Show full item record
    Citable URI
    https://hdl.handle.net/1912/5551
    DOI
    10.1575/1912/5551
    Keyword
     System analysis; Submersibles 
    Abstract
    Closed loop control of an underwater vehicle in an acoustic position net requires an accurate hydrodynamic model of the vehicle. The model is essential to the control algorithm design process. Further, it is an integral part of the observer used to generate complete state estimates from the position measurements. An experimental apparatus and numerical analysis technique for vehicle system identification during the thruster induced hover limit cycle are described. Detailed comparisons to other techniques are made and extension of the technique to four degrees of freedom with coupling is discussed. A model of the Remotely Operated Vehicle Hylas is determined. The model determined by the system identification procedure is then used in the designs of a state estimator and controller for trajectory following by the vehicle. The algorithms are initially evaluated in a numerical simulation. Tests are made for stability, trajectory following performance, and accuracy of the state estimator under varying system and environmental conditions. Finally, the results of vehicle trials are presented. System stability and accurate trajectory following under the control of the algorithms are demonstrated using ROY Hylas. The high accuracy level of the simulation is also demonstrated by the trials and directions for continued research are discussed.
    Description
    Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and Woods Hole Oceanographic Institution January 1994
    Collections
    • Applied Ocean Physics and Engineering (AOP&E)
    • WHOI Theses
    Suggested Citation
    Thesis: Morrison, Archie T., "System identification and state reconstruction for autonomous navigation of an underwater vehicle in an acoustic net", 1994-01, DOI:10.1575/1912/5551, https://hdl.handle.net/1912/5551
     

    Related items

    Showing items related by title, author, creator and subject.

    • Thumbnail

      A control system design technique for nonlinear discrete time systems 

      DeLonga, David M. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 1989-02)
      A new control methodology is proposed for use with a class of nonlinear, single-input discrete time systems. The technique is based on a discrete time approach that parallels existing continuous time sliding surface ...
    • Thumbnail

      High resolution, in-situ studies of seawater carbonate chemistry and carbon cycling in coastal systems using CHANnelized Optical System II 

      Ringham, Mallory C. (Massachusetts Institute of Technology and Woods Hole Oceanographic Institution, 2022-05)
      Study of the marine CO2 system is critical for understanding global carbon cycling and the impacts of changing ocean chemistry on marine ecosystems. This thesis describes the development of a near-continuous, in-situ ...
    • Thumbnail

      The Jason II virtual control van system, data acquisition system, web-based event logger, and SeaNet 

      Lerner, Steven A.; Maffei, Andrew R. (Woods Hole Oceanographic Institution, 2002-12)
      Scientific underwater remotely operated vehicles (ROVs) collect data from multiple video cameras and scientific instruments. This integrated information is often only available in an ROV control-van during operations. ...
    All Items in WHOAS are protected by original copyright, with all rights reserved, unless otherwise indicated. WHOAS also supports the use of the Creative Commons licenses for original content.
    A service of the MBLWHOI Library | About WHOAS
    Contact Us | Send Feedback | Privacy Policy
    Core Trust Logo