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dc.contributor.authorLeBas, Phillip J.  Concept link
dc.date.accessioned2012-12-28T16:45:50Z
dc.date.available2012-12-28T16:45:50Z
dc.date.issued1997-09
dc.identifier.urihttps://hdl.handle.net/1912/5668
dc.descriptionSubmitted 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 1997en_US
dc.description.abstractA 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.en_US
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen_US
dc.publisherMassachusetts Institute of Technology and Woods Hole Oceanographic Institutionen_US
dc.relation.ispartofseriesWHOI Thesesen_US
dc.subjectRemote submersiblesen_US
dc.titleMaximizing AUV slow speed performanceen_US
dc.typeThesisen_US
dc.identifier.doi10.1575/1912/5668


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