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Maneuvering of an over-actuated autonomous underwater vehicle using both through-body tunnel thrusters and control surfaces

Steenson, L.V., Phillips, A.B., Furlong, M., Rogers, E. and Turnock, S.R. (2011) Maneuvering of an over-actuated autonomous underwater vehicle using both through-body tunnel thrusters and control surfaces In 17th International Undersea Untethered Submersible Technology Conference. Autonomous Underwater Vehicles Applications Center. 9 pp.

Record type: Conference or Workshop Item (Paper)


The maneuvering performance of an over-actuated AUV (2m long, 254mm diameter) has been tested operating on the free surface (97% displacement submerged). Straight line speed tests and turning circle tests have been performed. Both rear control surfaces and through-body tunnel thrusters were used to maneuver the vehicle. The turning circle diameter, turning rate and forward velocity data is presented with rudder, thruster and hybrid tests. The rudder actuated turning diameters (TD) reduced as forward speed increased. The thruster actuated TD are smaller than the rudder actuated and the TD for thruster actuated increases with forward speed. For the smallest TD, a hybrid system using both the rudders and thrusters were used. An inverse open loop control algorithm is presented that delegates actuator set-points for a given propeller set-point and TD

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Published date: 21 August 2011
Venue - Dates: 17th International Undersea Untethered Submersible Technology Conference, United States, 2011-08-21 - 2011-08-24
Related URLs:
Keywords: AUV, tunnel thrusters, control surfaces, turning circles
Organisations: Ocean Technology and Engineering, Fluid Structure Interactions Group


Local EPrints ID: 207875
PURE UUID: b2536c24-e4a5-4478-a068-d6b762737a9b
ORCID for S.R. Turnock: ORCID iD

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Date deposited: 18 Jan 2012 11:27
Last modified: 18 Jul 2017 10:49

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Author: L.V. Steenson
Author: A.B. Phillips
Author: M. Furlong
Author: E. Rogers
Author: S.R. Turnock ORCID iD

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