Efficient control based on a verified model for an autonomous underwater vehicle : a case study of Autonomous Benthic Explorer
Citable URI
https://hdl.handle.net/1912/5702DOI
10.1575/1912/5702Keyword
Remote submersiblesAbstract
The Autonomous Benthic Explorer (ABE) is an unmanned underwater vehicle being
developed for scientific study of the deep ocean sea:floor. ABE will be completely
autonomous from the surface which means that the lifetime of the mission will depend
largely on how the vehicle is controlled. An accurate system model is critical for the
controller development and trajectory planning.
A model of the ABE vehicle dynamics is formulated for surge, heave and pitch
motions. These motions in the lon,gitudinal plane are particularly important for the
basic ABE trajectories of forward flight, depth changes and maneuvers involving both.
A scale model of the ABE vehicle was towed to determine the lift/drag relationships
to nonzero angles of attack. The experimental results are used in conjunction with
traditional analytical techniques to generate a model of the longitudinal dynamics.
The ABE model was studied in simulation over anticipated vehicle trajectories. A
proportional plus derivative controller and a sliding mode controller were developed
for tracking control. The power consumptions for different controllers and trajectories
are examined. The results of this study will be incorporated in the final ABE design.
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 February 1992
Suggested Citation
Thesis: Anderson, Jamie M., "Efficient control based on a verified model for an autonomous underwater vehicle : a case study of Autonomous Benthic Explorer", 1992-02, DOI:10.1575/1912/5702, https://hdl.handle.net/1912/5702Related items
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