Journal article
Autopilot System for Depth and Pitch Control in Underwater Vehicles: Navigating Near-Surface Waves and Disturbances
IFAC-PapersOnLine, Vol.58(20), pp.209-214
2024
DOI: 10.1016/j.ifacol.2024.10.056
Abstract
This paper introduces a framework for depth and pitch control of underwater vehicles in near-surface wave conditions. By effectively managing tail, sail plane angles and hover tank operations utilizing a Linear Quadratic Regulator controller and ℒ1 Adaptive Autopilot augmentation, the system ensures balanced control input distribution and significantly attenuates wave disturbances. This development in underwater vehicle control systems offers potential for improved functionality across a range of marine applications. The proposed framework is demonstrated to be robust in wave conditions, enabling more precise navigation and improved safety in operational scenario. The effectiveness of this control strategy is validated through extensive simulations using the Joubert BB2 model.
Details
- Title: Subtitle
- Autopilot System for Depth and Pitch Control in Underwater Vehicles: Navigating Near-Surface Waves and Disturbances
- Creators
- Vladimir Petrov - University of Iowa, Mechanical Engineering, Iowa City, IA 52242 USAGage MacLin - University of IowaVenanzio Cichella - University of Iowa, Mechanical Engineering, Iowa City, IA 52242 USA
- Resource Type
- Journal article
- Publication Details
- IFAC-PapersOnLine, Vol.58(20), pp.209-214
- DOI
- 10.1016/j.ifacol.2024.10.056
- ISSN
- 2405-8963
- eISSN
- 2405-8963
- Publisher
- Elsevier Ltd
- Language
- English
- Date published
- 2024
- Academic Unit
- Mechanical Engineering
- Record Identifier
- 9984740853902771
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