DocumentCode :
2934014
Title :
Design of Underwater Vehicles for High Performance Control
Author :
Yoerger, Dana R. ; Von Alt, Christopher J. ; Bowen, Andrew D. ; Newman, James B.
Author_Institution :
Woods Hole Oceanographic Institution, Woods Hole, MA, USA
fYear :
1986
fDate :
23-25 Sept. 1986
Firstpage :
1431
Lastpage :
1437
Abstract :
Design considerations for high performance control of remotely operated underwater vehicles are presented, focussing on the performance limits imposed by navigation, actuators, dynamic uncertainty, control strategies, and the dynamics of the vehicle. As coupling between translation and attitude present a major impediment to high bandwidth control, techniques for reducing this coupling are presented. In-water test data is presented for the new JASON Junior vehicle currently being designed and built at the Deep Submergence Laboratory.
Keywords :
Automatic control; Bandwidth; Control systems; Frequency; Navigation; Nonlinear control systems; State estimation; Testing; Uncertainty; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
OCEANS '86
Conference_Location :
Washington, DC, USA
Type :
conf
DOI :
10.1109/OCEANS.1986.1160335
Filename :
1160335
Link To Document :
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