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    Maximizing AUV slow speed performance

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    LeBas_Thesis (14.29Mb)
    Date
    1997-09
    Author
    LeBas, Phillip J.  Concept link
    Metadata
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    Citable URI
    https://hdl.handle.net/1912/5668
    DOI
    10.1575/1912/5668
    Keyword
    Remote submersibles
    Abstract
    A review of the Odyssey IIB autonomous underwater vehicle shows that energy costs associated with vehicle controls can be reduced and operational flexibility improved with relatively simple, low cost improvements. Because the operating speed that minimizes forward drag is not necessarily the same as that required for optimum sensor performance, a variable speed capability extending to the bottom of the vehicle speed range is sought. Optimizing Odyssey IIB AUV performance for slower speed operations and extended duration missions necessitates a multi-disciplinary review including control system design, hydrodynamic performance and sensor selection and utilization. Reducing the vehicle controls-fixed directional instability by adding vertical fixed fins, implementing an actuation filter, and designing a model based adaptive sliding controller improves the variable speed performance and reduces the control actuation necessary to provide the desired performance level with energy savings.
    Description
    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 1997
    Collections
    • Applied Ocean Physics and Engineering (AOP&E)
    • WHOI Theses
    Suggested Citation
    Thesis: LeBas, Phillip J., "Maximizing AUV slow speed performance", 1997-09, DOI:10.1575/1912/5668, https://hdl.handle.net/1912/5668
     

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