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. Autonomous Undersea Vehicle Applications Center. 10 pp.

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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: Conference or Workshop Item (Paper)
Venue - Dates: conference; us; 2011-08-21; 2011-08-24, United States, 2011-08-21 - 2011-08-24
Related URLs:
Keywords: autonomous underwater vehicle, nonlinear control, tunnel thruster, control surface, chinese effect
Subjects:
Organisations: Fluid Structure Interactions Group
ePrint ID: 207859
Date :
Date Event
21 August 2011Published
Date Deposited: 18 Jan 2012 10:14
Last Modified: 18 Apr 2017 00:36
Further Information:Google Scholar
URI: http://eprints.soton.ac.uk/id/eprint/207859

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