The control system of an autonomous underwater vehicle
نویسندگان
چکیده
منابع مشابه
OPTIMIZED FUZZY CONTROL DESIGN OF AN AUTONOMOUS UNDERWATER VEHICLE
In this study, the roll, yaw and depth fuzzy control of an Au- tonomous Underwater Vehicle (AUV) are addressed. Yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. The discussed AUV has four aps at the rear of the vehicle as actuators. Two rule bases...
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This paper develops an improved robust multi-surface sliding mode controller for a complicated five degrees of freedom Underwater Vehicle-Manipulator System with floating base. The proposed method combines the robust controller with some corrective terms to decrease the tracking error in transient and steady state. This approach improves the performance of the nonlinear dynamic control scheme a...
متن کاملoptimized fuzzy control design of an autonomous underwater vehicle
in this study, the roll, yaw and depth fuzzy control of an au- tonomous underwater vehicle (auv) are addressed. yaw and roll angles are regulated only using their errors and rates, but due to the complexity of depth dynamic channel, additional pitch rate quantity is used to improve the depth loop performance. the discussed auv has four aps at the rear of the vehicle as actuators. two rule bases...
متن کاملSystem Identification, Modelling and Control of an Autonomous Underwater Vehicle
Autonomy of an underwater vehicle is in the main attributable to the design of a suitable guidance and control system. Generally, the control system is developed and tested first in simulation studies using a model of the vessel to gain confidence in the approach being adopted. Therefore, plant identification is imperative to gain insight about the system. This paper is concerned with a practic...
متن کاملOnline System Identification and Control of an Autonomous Underwater Vehicle
2015 DECLARATION I hereby declare that this thesis is my original work and it has been written by me in its entirety. I have duly acknowledged all the sources of information which have been used in the thesis. This thesis has also not been submitted for any degree in any university previously. Summary More and more autonomous underwater vehicles (AUVs) are designed to be modular, where their pa...
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ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 1995
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.1995.2.3