Control of an AUV from thruster actuated hover to control surface actuated flight
Control of an AUV from thruster actuated hover to control surface actuated flight
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
Steenson, Leo V.
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Phillips, Alexander B.
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Rogers, Eric
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Furlong, Maaten E.
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Turnock, Stephen R.
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12 October 2011
Steenson, Leo V.
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Phillips, Alexander B.
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Rogers, Eric
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Furlong, Maaten E.
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Turnock, Stephen R.
d6442f5c-d9af-4fdb-8406-7c79a92b26ce
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.
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.
12 pp
.
Record type:
Conference or Workshop Item
(Paper)
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
Text
RTO-MP-AVT-189_-_Steenson_2011.pdf
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More information
Published date: 12 October 2011
Venue - Dates:
Specialists Meeting AVT-189/RSM-028 Assessment of Stability and Control Prediction Methods for NATO Air & Sea Vehicles, Portsdown, United Kingdom, 2011-10-12 - 2011-11-14
Organisations:
Electronics & Computer Science, Ocean Technology and Engineering, Fluid Structure Interactions Group
Identifiers
Local EPrints ID: 207877
URI: http://eprints.soton.ac.uk/id/eprint/207877
PURE UUID: bd8caadf-8e72-4408-9dc6-338947fa9a9e
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Date deposited: 18 Jan 2012 11:37
Last modified: 15 Mar 2024 03:21
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Contributors
Author:
Leo V. Steenson
Author:
Alexander B. Phillips
Author:
Eric Rogers
Author:
Maaten E. Furlong
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