The control system of an autonomous underwater vehicle

The control system of an autonomous underwater vehicle

This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV) developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are design...

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Veröffentlicht in:Modeling, identification and control identification and control, 1995-04, Vol.16 (2), p.107-117
Hauptverfasser: JALVING, B, STØRKERSEN, N
Format: Artikel
Sprache:eng
Schlagworte:
Applied sciences
Autonomous underwater vehicle
Exact sciences and technology
flight control system
Ground, air and sea transportation, marine construction
Miscellaneous transportation
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Beschreibung
Zusammenfassung:This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV) developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PID techniques. Results from sea trials show robust performance and stability for the autopilot.
ISSN:0332-7353
1890-1328
DOI:10.4173/mic.1995.2.3