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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
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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Steenson, Leo V.
6b4c7fa7-8c25-4a3e-9d45-e0369b578859
Phillips, Alexander B.
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Rogers, Eric
611b1de0-c505-472e-a03f-c5294c63bb72
Furlong, Maaten E.
332e9aef-8c6b-452f-8b85-712492767458
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. 11 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

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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, 2011-10-11 - 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
ORCID for Alexander B. Phillips: ORCID iD orcid.org/0000-0003-3234-8506
ORCID for Eric Rogers: ORCID iD orcid.org/0000-0003-0179-9398
ORCID for Stephen R. Turnock: ORCID iD orcid.org/0000-0001-6288-0400

Catalogue record

Date deposited: 18 Jan 2012 11:37
Last modified: 23 Sep 2020 01:36

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