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Leveled flight control of an unmanned underwater vehicle operating in a wave induced environment
Title
Leveled flight control of an unmanned underwater vehicle operating in a wave induced environment.
Creator
Potesta, Joshua J., An, Edgar, Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Autonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still...
Show moreAutonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still water line. A wave prediction model is simulated to provide the controller with knowledge of the wave disturbance before it is encountered. The controller allows for depth keeping below the still water line with a standard deviation of 0.04 and 0.65 meters for wave amplitudes of 0.1-0.25 and 0.5-2 meters respectively and wave frequencies of 0.35-1.0 𝑟𝑎𝑑⁄𝑠𝑒𝑐, and the wave prediction improves the depth control on the order of 0.03 meters.
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Date Issued
2014
PURL
http://purl.flvc.org/fau/fd/FA00004149, http://purl.flvc.org/fau/fd/FA00004149
Subject Headings
Feedback control systems, Nonlinear control theory, Remote submersibles -- Design and construction, Vehicles, Remotely piloted -- Mathematical models
Format
Document (PDF)