Preliminary results of a hover capable AUV attempting transitional flight


Steenson, Leo V. (2011) Preliminary results of a hover capable AUV attempting transitional flight. In, 17th International Unmanned Untethered Submersible Technology Conference. Lee, United States, Autonomous Undersea Vehicle Applications Center.

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Description/Abstract

The actuators of an over-actuated AUV have been modeled and this information used to design a control algorithm that enables an vehicle to operate throughout a wide range of forward velocities. Both experimental and simulation results are presented for the performance of the through-body vertical tunnel thrusters, four independent control surfaces, and the interaction between the vehicle hull and actuators. The control algorithm has been tested and shown to work adequately well provided the vehicle acceleration is constrained

Item Type: Book Section
Related URLs:
Keywords: autonomous underwater vehicle, nonlinear control, tunnel thruster, control surface, chinese effect
Subjects: T Technology > TC Hydraulic engineering. Ocean engineering
V Naval Science > VM Naval architecture. Shipbuilding. Marine engineering
Divisions: Faculty of Engineering and the Environment > Civil, Maritime and Environmental Engineering and Science > Fluid / Structure Interactions Research
ePrint ID: 207859
Date Deposited: 18 Jan 2012 10:14
Last Modified: 27 Mar 2014 19:49
Publisher: Autonomous Undersea Vehicle Applications Center
URI: http://eprints.soton.ac.uk/id/eprint/207859

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