1 / 9

AUV Steering Parameter Identification for Improved Control Design June 2001 LT Jay H. Johnson

AUV Steering Parameter Identification for Improved Control Design June 2001 LT Jay H. Johnson Thesis Advisor Professor Anthony J. Healey. Funded by the Office of Naval Research. MOTIVATION Redesign High Performance. SYSTEM PARAMETER IDENTIFICATION LJUNG SODERSTRUM. Start.

simone
Download Presentation

AUV Steering Parameter Identification for Improved Control Design June 2001 LT Jay H. Johnson

An Image/Link below is provided (as is) to download presentation Download Policy: Content on the Website is provided to you AS IS for your information and personal use and may not be sold / licensed / shared on other websites without getting consent from its author. Content is provided to you AS IS for your information and personal use only. Download presentation by click this link. While downloading, if for some reason you are not able to download a presentation, the publisher may have deleted the file from their server. During download, if you can't get a presentation, the file might be deleted by the publisher.

E N D

Presentation Transcript

  1. AUV Steering Parameter Identification for Improved Control Design June 2001 LT Jay H. Johnson Thesis Advisor Professor Anthony J. Healey Funded by the Office of Naval Research

  2. MOTIVATION • Redesign • High Performance • SYSTEM PARAMETER IDENTIFICATION • LJUNG • SODERSTRUM Start • BACKGROUND and • PREVIOUS LITERATURE • ABKOWITZ

  3. AUV SYSTEM MODEL Parameter ID y u Commands COMP CONT Vehicle Sensors

  4. EQUATIONS of MOTION Calculate Measure Estimate

  5. AUV MASS PROPERTIES

  6. AUV HYDRODYNAMIC ADDED MASS PROPERTIES Problems Associated With Actual Shape Modeling as Oblate Ellipsoid Modeling as Prolate Ellipsoid

  7. AUV SYSTEM IDENTIFICATION Error Regression Matrix manipulation

  8. RESULTS Sway Velocity Yaw Rate

  9. CONCLUSIONS • Overall problem of underwater vehicle modeling • Obtaining an accurate hydrodynamic model • Use of other methods • Method used in this report has many positive features • The utility of this approach • Data collected by the AUV • Increased knowledge of hydrodynamic parameters • This approach requires an initial steering controller • be designed successfully • Results of this study

More Related