Control of an AUV from thruster actuated hover to control surface actuated flight


Steenson, Leo V., Phillips, Alexander B., Rogers, Eric, Furlong, Maaten E. and Turnock, Stephen R. (2011) Control of an AUV from thruster actuated hover to control surface actuated flight. In, Specialists Meeting AVT-189/RSM-028 Assessment of Stability and Control Prediction Methods for NATO Air & Sea Vehicles, Portsdown, United Kingdom, 12 Oct - 14 Nov 2011. 12pp.

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Description/Abstract

An autonomous underwater vehicle (AUV) capable of both low speed hovering and high speed flight-style operation is introduced. To have this capability the AUV is over-actuated with a rear propeller, four control surfaces and four through-body tunnel thrusters. In this work the actuators are modelled and the non-linearities and uncertainties are identified and discussed with specific regard to operation at different speeds. A thruster-actuated depth control algorithm and a flight-style control-surface actuated depth controller are presented. These controllers are then coupled using model reference feedback to enable transition between the two controllers to enable vehicle stability throughout the speed range. Results from 3 degrees-of-freedom simulations of the AUV using the new controller are presented, showing that the controller works well to smoothly transition between controllers. The performance of the depth controller appears asymmetric with better performance whilst diving than ascending

Item Type: Conference or Workshop Item (Paper)
Related URLs:
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
Faculty of Physical Sciences and Engineering > Electronics and Computer Science
National Oceanography Centre (NERC) > Ocean Technology and Engineering
ePrint ID: 207877
Date Deposited: 18 Jan 2012 11:37
Last Modified: 27 Mar 2014 19:49
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/207877

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