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    Model-Based Maneuvering Controls for Autonomous Underwater Vehicles

    Source: Journal of Dynamic Systems, Measurement, and Control:;1992:;volume( 114 ):;issue: 004::page 614
    Author:
    A. J. Healey
    DOI: 10.1115/1.2897733
    Publisher: The American Society of Mechanical Engineers (ASME)
    Abstract: This paper proposes the development of a model following autopilot system for an Autonomous Underwater Vehicle (AUV) depth changing control. The parameters to command a maneuver are generated off-line and selected as appropriate by the vehicle’s autonomous control system. A series of such preprogrammed maneuvers can be stored in an on-board computer, and used as command generation systems for the autopilot. The paper presents a linear model following control (LMFC) design based on the open-loop linearized vehicle model as the reference model, a robustness analysis of the scheme and simulation results of response in the diveplane using the full nonlinear vehicle system equations. LMFC has been proposed for aircraft where certain desirable handling characteristics based on an arbitrary model are required or where decoupled control for Control Configured Vehicle (CCV) performance is needed. It is shown here that this model-based LMFC autopilot for underwater vehicles exhibits relatively robust behavior under conditions of parameter uncertainty and non-linearity which is not worse than the equivalent LQR/LTR for linear output feedback systems. Also, a tailored transient response is provided, conducive to near time optimal response.
    keyword(s): Underwater vehicles , Autopilots , Vehicles , Computers , Aircraft , Equations , Feedback , Robustness , Simulation results , Uncertainty , Control systems , Transients (Dynamics) AND Design ,
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      Model-Based Maneuvering Controls for Autonomous Underwater Vehicles

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    http://yetl.yabesh.ir/yetl1/handle/yetl/109914
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    • Journal of Dynamic Systems, Measurement, and Control

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    contributor authorA. J. Healey
    date accessioned2017-05-08T23:37:51Z
    date available2017-05-08T23:37:51Z
    date copyrightDecember, 1992
    date issued1992
    identifier issn0022-0434
    identifier otherJDSMAA-26187#614_1.pdf
    identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/109914
    description abstractThis paper proposes the development of a model following autopilot system for an Autonomous Underwater Vehicle (AUV) depth changing control. The parameters to command a maneuver are generated off-line and selected as appropriate by the vehicle’s autonomous control system. A series of such preprogrammed maneuvers can be stored in an on-board computer, and used as command generation systems for the autopilot. The paper presents a linear model following control (LMFC) design based on the open-loop linearized vehicle model as the reference model, a robustness analysis of the scheme and simulation results of response in the diveplane using the full nonlinear vehicle system equations. LMFC has been proposed for aircraft where certain desirable handling characteristics based on an arbitrary model are required or where decoupled control for Control Configured Vehicle (CCV) performance is needed. It is shown here that this model-based LMFC autopilot for underwater vehicles exhibits relatively robust behavior under conditions of parameter uncertainty and non-linearity which is not worse than the equivalent LQR/LTR for linear output feedback systems. Also, a tailored transient response is provided, conducive to near time optimal response.
    publisherThe American Society of Mechanical Engineers (ASME)
    titleModel-Based Maneuvering Controls for Autonomous Underwater Vehicles
    typeJournal Paper
    journal volume114
    journal issue4
    journal titleJournal of Dynamic Systems, Measurement, and Control
    identifier doi10.1115/1.2897733
    journal fristpage614
    journal lastpage622
    identifier eissn1528-9028
    keywordsUnderwater vehicles
    keywordsAutopilots
    keywordsVehicles
    keywordsComputers
    keywordsAircraft
    keywordsEquations
    keywordsFeedback
    keywordsRobustness
    keywordsSimulation results
    keywordsUncertainty
    keywordsControl systems
    keywordsTransients (Dynamics) AND Design
    treeJournal of Dynamic Systems, Measurement, and Control:;1992:;volume( 114 ):;issue: 004
    contenttypeFulltext
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    DSpace software copyright © 2002-2015  DuraSpace
    نرم افزار کتابخانه دیجیتال "دی اسپیس" فارسی شده توسط یابش برای کتابخانه های ایرانی | تماس با یابش
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