Title :
The control system of an autonomous underwater vehicle
Author :
Jalving, Bjørn ; Størkersen, Nils
Author_Institution :
Defence Res. Establ., Kjeller, Norway
Abstract :
This paper presents the navigation control system of an autonomous underwater vehicle (AUV) developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on the PID technique. Results from sea trials show the robust performance and stability for the autopilot
Keywords :
marine systems; navigation; position control; stability; three-term control; velocity control; AUV; Norwegian Defence Research Establishment; PID technique; autonomous underwater vehicle; autopilot; diving; navigation control system; speed control; stability; steering; Navigation; Position control; Proportional control; Stability; Underwater vehicle control; Velocity control;
Conference_Titel :
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location :
Glasgow
Print_ISBN :
0-7803-1872-2
DOI :
10.1109/CCA.1994.381210
