Iver2 AUV Control Design Thesis Defense

Analysis, Redesign and Verification of the Iver2 Autonomous Underwater Vehicle Motion Controller A Thesis in Electrical Engineering by Eric A. Leveille Submitted in Partial Fulfillment of the Requirements for the Degree of Master of Science July, 2007

Committee Members ,[object Object],[object Object],[object Object],[object Object]

Presentation Overview ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Motivation for Research ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

The Iver2 AUV ,[object Object],[object Object],[object Object],[object Object]

Original Motion Controller Design ,[object Object],[object Object],[object Object]

Iver2 Model Development ,[object Object],[object Object]

Controller Design and Implementation ,[object Object],[object Object],[object Object]

Vehicle Kinematics ,[object Object],[object Object]

Control Coordinate System ,[object Object],[object Object]

Rigid Body Dynamics ,[object Object], .

External Forces and Moments ,[object Object],[object Object]

6-DOF Nonlinear Model ,[object Object],[object Object]

Depth Plane Control Structure ,[object Object],[object Object]

Inner Pitch Loop Design ,[object Object],[object Object],[object Object]

Type A PD Controller [6] ,[object Object]

Type B PD Controller ,[object Object]

Pitch Controller Step Response ,[object Object],[object Object],[object Object],[object Object]

Outer Depth Loop Controller ,[object Object],[object Object]

P Controller Depth Response ,[object Object],[object Object]

PI Controller Depth Response ,[object Object],[object Object]

Nonlinear Depth Plane Simulation ,[object Object],[object Object]

Linear Control Signals ,[object Object],[object Object]

Saturating Nonlinearities ,[object Object],[object Object]

Linear and Saturated Responses ,[object Object],[object Object],[object Object]

Integrator Windup ,[object Object],[object Object]

Preventing Integrator Windup [7] ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Simulated Anti-windup Techniques ,[object Object]

Implemented Depth Controller ,[object Object],[object Object],[object Object]

Old vs New Depth Responses Old Controller New Controller ,[object Object]

Old vs New Pitch Responses Old Controller New Controller ,[object Object]

Old vs New Control Fin Angles Old Controller New Controller ,[object Object]

Future Improvements ,[object Object],[object Object],[object Object]

Conclusion ,[object Object],[object Object],[object Object]

References ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Iver2 AUV Control Design Thesis Defense

Recommended

Recommended

More Related Content

What's hot

What's hot (20)

Viewers also liked

Viewers also liked (15)

Similar to Iver2 AUV Control Design Thesis Defense

Similar to Iver2 AUV Control Design Thesis Defense (20)

Recently uploaded

Recently uploaded (20)

Iver2 AUV Control Design Thesis Defense