Control Design for Long Endurance Unmanned Underwater Vehicle Systems

In this thesis we demonstrate a technique for robust controller design for an autonomous underwater vehicle (AUV) that explicitly handles the trade-off between reference tracking, agility, and energy efficient performance. AUVs have many sources of modeling uncertainty that impact the uncertainty in maneuvering performance. A robust control design process is proposed to handle these uncertainties while meeting control system performance objectives. We investigate the relationships between linear system design parameters and the control performance of our vehicle in order to inform an H∞ controller synthesis problem with the objective of balancing these tradeoffs. We evaluate the controller based on its reference tracking performance, agility and energy efficiency, and show the efficacy of our control design strategy.

Name thesis:degree_name

Master of Science

Level thesis:degree_level

masters

Discipline thesis:degree_discipline

Computer Engineering

Department dc:contributor.department

Electrical and Computer Engineering

Grantor dc:publisher

Virginia Tech

Year dc:date.issued

2022

Author dc:creator

• Kleiber, Justin Tanner

Chair dc:contributor.committeechair

• Stilwell, Daniel J.

Committee members dc:contributor.committeemember

• Williams, Ryan K.
• Doan, Thinh Thanh

• Autonomous Underwater Vehicles
• Robust Control
• Gaussian Processes

Statement dc:rights

• Creative Commons Attribution 4.0 International

Licence dc:rights.uri

• http://creativecommons.org/licenses/by/4.0/

Language dc:language.iso

en

Dc Identifier Other

vt_gsexam:34811

OAI identifier oai:identifier

oai:vtechworks.lib.vt.edu:10919/110317