Real time adaptive control of an Autonomous Underwater Vehicle (AUV)

In this research the problem of designing a controller for the dive maneuver of an Autonomous Underwater Vehicle (AUV) is addressed. The highly nonlinear nature of the vehicle dynamics and the requirement for the fast maneuvering call for robust control techniques. In particular Variable Structure Control (VSC) combined with Adaptive Control (AC) techniques seem to yield satisfactory performance in terms of robustness, capability to adjust to different operating conditions, and speed of response. Also linear robust techniques based on LQG and robust observers are presented to address the case when the whole state (in terms of pitch rate, pitch, and depth) is not available for measurement. Autonomous underwater vehicle; Variable structure control; AUV; Sliding mode control; Doyle-Stein observer; Adaptive control; Thesis; Sea floor mapping; Target identification; Remote reconnaissance; Underwater tracking

Department dc:contributor.department

Department of Electrical Engineering

Grantor dc:publisher

Monterey, California. Naval Postgraduate School

Year dc:date.issued

1989

Author dc:creator

• Davis, Michael H.

Advisor dc:contributor.advisor

• Cristi, Roberto

Statement dc:rights

• This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.

Language dc:language.iso

en_US

Handle dc:identifier.uri

https://hdl.handle.net/10945/26198

OAI identifier oai:identifier

oai:calhoun.nps.edu:10945/26198