Accession Number : ADA193843

Title :   Experimental Verification of AUV (Autonomous Underwater Vehicle) Performance.

Descriptive Note : Master's thesis,

Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA

Personal Author(s) : Brunner, Glenn M

PDF Url : ADA193843

Report Date : Mar 1988

Pagination or Media Count : 152

Abstract : System identification for an Autonomous Underwater Vehicle model design is performed using Recursive Least Squares to provide a best fit discretized transfer function between dive plane command signals and vehicle response data. The data was provided by constructing a radio controlled vehicle model and performing vertical plane maneuvers in a water tank. The analog input and output signals were digitized and recorded. The vehicle design, sensor calibration, and resulting responses are discussed. Vertical plane equations of motion were derived and theoretical plant models formulated. Also, analog controller designs were performed based on the theoretical plant models. This study will lead to adaptive model controllers for the future. Keywords: Theses; Performance tests.

Descriptors :   *ANALOG SYSTEMS, *CONTROL SYSTEMS, *UNDERWATER VEHICLES, ADAPTIVE CONTROL SYSTEMS, CALIBRATION, CONTROL, DETECTORS, DIVING, EQUATIONS, IDENTIFICATION, INPUT, LEAST SQUARES METHOD, MANEUVERS, MODELS, PERFORMANCE TESTS, RADIO EQUIPMENT, RECURSIVE FUNCTIONS, RESPONSE, SIGNALS, THESES, TRANSFER FUNCTIONS, VEHICLES, VERTICAL ORIENTATION, WATER TANKS

Subject Categories : Marine Engineering

Distribution Statement : APPROVED FOR PUBLIC RELEASE