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Design of an adaptive nonlinear controller for an autonomous underwater vehicle equipped with a vectored thruster

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Date Issued:
2002
Summary:
The tasks Autonomous Underwater Vehicles (AUVs) are expected to perform are becoming more and more challenging. Thus, to be able to address such tasks, we implemented a high maneuverability propulsion system: a vectored thruster. The design of a vehicle equipped with such a propulsion system will be presented, from a mechanical, electronic and software point of view. The motion control of the resulting system is fairly complex, and no suitable controller is available in the literature. Accordingly, we will present the derivation of a novel tracking controller, whose adaptive properties will compensate for the lack of knowledge of the system's parameters. Computer simulations are provided and show the performance and robustness of the proposed control algorithm to external perturbations, unmodelled dynamics and dynamics variation. We finally illustrate the advantage of using an adaptive controller by comparing the presented controller to a Proportional Integral Derivative controller.
Title: Design of an adaptive nonlinear controller for an autonomous underwater vehicle equipped with a vectored thruster.
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Name(s): Morel, Yannick.
Florida Atlantic University, Degree grantor
Leonessa, Alexander, Thesis advisor
College of Engineering and Computer Science
Department of Ocean and Mechanical Engineering
Type of Resource: text
Genre: Electronic Thesis Or Dissertation
Issuance: monographic
Date Issued: 2002
Publisher: Florida Atlantic University
Place of Publication: Boca Raton, Fla.
Physical Form: application/pdf
Extent: 100 p.
Language(s): English
Summary: The tasks Autonomous Underwater Vehicles (AUVs) are expected to perform are becoming more and more challenging. Thus, to be able to address such tasks, we implemented a high maneuverability propulsion system: a vectored thruster. The design of a vehicle equipped with such a propulsion system will be presented, from a mechanical, electronic and software point of view. The motion control of the resulting system is fairly complex, and no suitable controller is available in the literature. Accordingly, we will present the derivation of a novel tracking controller, whose adaptive properties will compensate for the lack of knowledge of the system's parameters. Computer simulations are provided and show the performance and robustness of the proposed control algorithm to external perturbations, unmodelled dynamics and dynamics variation. We finally illustrate the advantage of using an adaptive controller by comparing the presented controller to a Proportional Integral Derivative controller.
Identifier: 9780496179237 (isbn), 12986 (digitool), FADT12986 (IID), fau:9854 (fedora)
Collection: FAU Electronic Theses and Dissertations Collection
Note(s): College of Engineering and Computer Science
Thesis (M.S.)--Florida Atlantic University, 2002.
Subject(s): Hydrodynamics
Nonlinear control theory
Adaptive control systems
Oceanographic submersibles
Held by: Florida Atlantic University Libraries
Persistent Link to This Record: http://purl.flvc.org/fcla/dt/12986
Sublocation: Digital Library
Use and Reproduction: Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder.
Use and Reproduction: http://rightsstatements.org/vocab/InC/1.0/
Host Institution: FAU
Is Part of Series: Florida Atlantic University Digital Library Collections.