The control system of an autonomous underwater vehicle

The control system of an autonomous underwater vehicle

This paper presents the navigation 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 de...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: Jalving, Storkersen
Format: Tagungsbericht
Sprache:eng
Schlagworte:
Navigation
Position control
Proportional control
Stability
Underwater vehicle control
Velocity control
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Beschreibung
Zusammenfassung:This paper presents the navigation 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 the PID technique. Results from sea trials show the robust performance and stability for the autopilot.< >
DOI:10.1109/CCA.1994.381210