1 edition of AUV dive control system development including sensor bias compensation and parameter estimation found in the catalog.
AUV dive control system development including sensor bias compensation and parameter estimation
Gerard J. Reina
by Naval Postgraduate School, Available from the National Technical Information Service in Monterey, Calif, Springfield, Va
Written in English
The crux of this thesis is to develop, test and evaluate a real- time state-space derived dive plane controller for the NPS prototype Autonomous Underwater Vehicle (AUV). The U.S. Navy and a number of its contractors are presently developing unmanned miniature submarines for several vital underwater missions. These include surveillance, submarine tracking, and bottom mapping. Foregoing Research at NPS produced a testbed as a research platform for demonstrating the performance of AUVs. Combining the power of an IBM PC/AT in conjunction with a high level programming language, a state space dive control system was developed and instituted for the 30 inch AUV model. Parameter Estimation using a Recursive Least Squares Fit scheme and a State Observer were incorporated in the controller. Procedures dealing with hardware/software interfacing, AUV simulation analysis, and computation speed of large programming code were investigated. Keywords: Analog simulators, Digital control programs, Closed loops.
|Statement||Gerard J. Reina|
|Contributions||Healey, Anthony J.|
|The Physical Object|
|Pagination||ix, 80 p. :|
|Number of Pages||80|
DESIGN AND DEVELOPMENT OF COMMAND AND CONTROL SYSTEM FOR AUTONOMOUS UNDERWATER VEHICLES 3 planning. If a feasible path is found between the start and target mission point, the resultant tasks are passed to vehicle level for navigation while the mission points and task sequence are reported back to Captain for mis-sion Size: 1MB. FLIGHT INVESTIGATION OF VARIOUS CONTROL INPUTS INTENDED FOR PARAMETER ESTIMATION Mary F. Shafer* NASA Ames Research Center Dryden Flight Research Facility Edwards, California Abstract An experiment assessing the stability and con-trol derivatives resulting from various control inputs was undertaken using the F-8 digital fly-by-wire aircraft.
i National Institute of Technology Rourkela CERTIFICATE This is to certify that the thesis entitled, “ Control of Autonomous Underwater Vehicles ” submitted by Mahendra Pratap Singh and . Keyword: Autonomous Underwater Vehicle, Control System Design, Full State Feedback Control Scheme 1 Introduction In the initial stage, study about controller design has been focused on the diving system controller’s design. In , a stern plane deflection has been used as input for the diving control system.
problem of using the observed state in the control design is addressed, leading to a sliding mode control system based on input-output signals in terms of dive-plane command and depth measurement. Numerical simulations using a full set of nonlinear equations of motion show the effectiveness of the proposed techniques. I. INTRODUCTION M. control system for ROV while Figure 3 shows the final ROV frame with all components in accurate position including the integrated sensor attached onto it. The pressure hull in the form of cylindrical PVC pipe with end cap is adopted as the systems frame since it is the easiest way to fabricate. The pressure hull needs to be sealed and the sealingFile Size: KB.
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EMBED EMBED (for wordpress a state space dive control system was developed and instituted for the 30 inch AUV model. Parameter Estimation using a Recursive Least Squares Fit scheme and a State Pages: Calhoun: The NPS Institutional Archive Theses and Dissertations Thesis Collection AUV dive control system development including sensor bias compensation and parameter estimation.
The estimated values are close to the actual values indicating that the estimation technique worked well. 0 50 Time (s) (b) µ ( actual, -- estimation) Y 0 x 10 -3 -2 Magnitude -4 -6 0 50 Time (s) (c) Yr ( actual, -- estimation) Fig. AUV parameter estimation: Yv, µ, and Yr Y All numerical integrations Cited by: 2.
change over time. The control system designed needs good robustness so that it can cope with plant uncertainties while it is suppressing noise and disturbances . Before the development of control laws the design of the AUV is changed by implementing a special inner-sliding-mechanism, which is designed by the author andFile Size: 2MB.
Autonomous Underwater Vehicles: Modeling, Control Design, and Simulation outlines a novel approach to help readers develop models to simulate feedback controllers for motion planning and design. The book combines useful information on both kinematic and dynamic nonlinear feedback control models, providing simulation results and other essential Cited by: Robust diving control of an AUV.
control solutions that guarantee robustness against external parameter uncertainty. A diving-control design, based on Lyapunov theory and back-stepping Author: Lionel Lapierre. Soroush Vahid, Kaveh Javanmard / Modeling and Control of Autonomous Underwater Vehicle (AUV) In Heading and Depth Attitude via PPD Controller with State Feedback 12 SMC is an earlier method that is a good solution for nonlinear system but it can cause chattering on actuators, waste energy, and make fault on Size: KB.
In this paper, an AUV motion control system design for diving was developed, that is, the control system of surge, heave and pitch motions by applying Sliding Mode Control (SMC) method.
MacPherson, David L. A Computer Simulation Study of Rule-Based Control of an Autonomous Underwater Vehicle. Reina, Gerard J. AUV Dive Control System Development Including Sensor Bias Compensation and Parameter. cations including ocean sampling, mapping, surveillance and communication. With the increasing feasibility and decreasing expense of the enabling AUV, sensor and communication tech-nologies, interest in these compelling applications is growing and multi-AUV operations are beginning to be realized in the water.
Keywords: AUV, Kalman ﬁltering, estimation. INTRODUCTION Navigation of AUV’s using solely inertial sensors is not sufﬁcient, because of the inherent drift of dead-reckoning velocities and acceleration. Support in the form of sensor fusion from earth-ﬁxed reference points is needed to avoid this drift.
Process the Analog Variables: Skid Builders Have Many Measurement and Control Options Selecting the Right Sensor or Instrument to Measure Each Process Variable Can Be a Daunting Task Because There Are Hundreds, if Not Thousands, of Options on the Market.
data averaging and model-based estimation to offset the effects of sensor noise and achieve precise control of an autonomous underwater vehicle (AUV) variable buoyancy system (VBS). Operation of the bottom skimming AUV requires a constant reaction force between the seabed and the vehicle.
WhileCited by: 3. The attitude control and depth tracking issue of autonomous underwater vehicle (AUV) are addressed in this paper. By introducing a nonsingular coordinate transformation, a novel nonlinear reduced-order observer (NROO) is presented to achieve an accurate estimation of AUV’s state variables.
A discrete-time model predictive control with nonlinear model online linearization Cited by: 5. Estimation of Parameters and Design of a Path Following Controller for a Prototype AUV Thesis submitted in partial ful llment of the requirements of the degree of Bachelor of Technology.
Muhaiyuddin et al., Modelling and Simulation of the Autonomous Underwater Vehicle (AUV) Robot 1. INTRODUCTION Research and development of the AUVs plays a significant role in modern robotics. AUVs have been used in many industries such as maritime, offshore engineering, undersea mining, military and oceanography .File Size: 1MB.
The downsized design and the cruising ability in a bounded space enable fast experimental feedback on control, navigation and guidance system design of AUVs. • Total weight of the AUV (including payload) must be less than or equal to 30 kg which is the limit imposed by safe carrying load of two individuals.
•Cited by: AUV Control Software The AUV control software is a POSIX compliant multi-threaded Linux application. Main tasks of the software include vehicle specific initialization, maintaining communication with the host, reading sensor data and running the control algorithm for the vehicle.
Software flow can be summarized as below – DO UNTIL STOPFile Size: 10KB. A Refined Attitude Algorithm for AUV Based on IMU Y. Zhou 1,2and L. Zhai1 1Electrical and Computer Engineering,Prairie View A&M University,Prairie View,TX,USA 2EngineeringTechnology,Prairie View A&M University,Prairie View,TX,USA Abstract-Autonomous Underwater Vehicle (AUV) is a robot that can perform underwater assignments automatically.
TFile Size: KB. AUV's depth control system. In Section 3 the feedforward NN is then briefly introduced and its universal approximation property is reviewed. In Section 4, by using the feedforward NN as an on-line approximator, we propose the adaptive control law and associated parameter estimation laws, and analyze the tracking.SLIDING MODE CONTROL OF AUTONOMOUS UNDERWATER VEHICLE Halil AKÇAKAYA1, H.
Alpaslan YILDIZ2, Gaye SALAM 2, and Fuat GÜRLEYEN3 1The Scientific and Technological Research Council of Turkey MRC Information Technologies Institute, Gebze, Kocaeli [email protected] A robust trajectory control problem for an underactuated AUV with parameter uncertainties and external disturbances was considered.
The trajectory control was decomposed in the horizontal plane and vertical plane. Based on the robust theory, the AUV model for heading control was proposed, and the heading controller was designed. The simulated results show Cited by: 2.