A model based autopilot for rapid depth control of an autonomous underwater vehicle is designed and installed in a small model experimental vehicle. The compensator is evaluated and verified by a series of experiments for a number of depth changing maneuvers. A systematic series of tests is performed to assess the effects of varying hydrodynamic parameters and control gains. The influence of the heave-pitch coupling is described in terms of the least squares fit of model to experimental open loop responses, which then form the basis of the closed loop antopilot design. The influence of sensor bias, parameter mismatch, and disturbances are discussed. The paper presents the design parameters of the small model vehicle and the presentation includes a video of the diving performance obtained when the compensator is properly designed. A conclusion is that control performance will be further enhanced by the incorporation of parameter adaption, as presented in a companion paper.
[1]
Richard J. Boncal.
A Study of Model Based Maneuvering Controls for Autonomous Underwater Vehicles
,
1987
.
[2]
Bernard Friedland,et al.
Control System Design: An Introduction to State-Space Methods
,
1987
.
[3]
A. J. Healey,et al.
Adaptive Identification and Control of an Autonomous Underwater Vehicle
,
1989,
Proceedings of the 6th International Symposium on Unmanned Untethered Submersible Technology,.
[4]
Morton Gertler,et al.
STANDARD EQUATIONS OF MOTION FOR SUBMARINE SIMULATION
,
1967
.
[5]
Martin A. Abkowitz,et al.
Stability and motion control of ocean vehicles
,
1969
.