• 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
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2934014