Steenson, Leo V., Phillips, Alexander B., Rogers, Eric, Furlong, Maaten E. and Turnock, Stephen R.
Control of an AUV from thruster actuated hover to control surface actuated flight
At Specialists Meeting AVT-189/RSM-028 Assessment of Stability and Control Prediction Methods for NATO Air & Sea Vehicles, United Kingdom.
12 Oct - 14 Nov 2011.
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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
Conference or Workshop Item
|Venue - Dates:
||Specialists Meeting AVT-189/RSM-028 Assessment of Stability and Control Prediction Methods for NATO Air & Sea Vehicles, United Kingdom, 2011-10-12 - 2011-11-14
||Electronics & Computer Science, Ocean Technology and Engineering, Fluid Structure Interactions Group
|12 October 2011||Published|
||18 Jan 2012 11:37
||18 Apr 2017 00:36
|Further Information:||Google Scholar|
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