File:Autopilot design for autonomous underwater vehicles based on sliding mode control (IA autopilotdesignf1094527778).pdf
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Summary[edit]
Autopilot design for autonomous underwater vehicles based on sliding mode control
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| Author |
Lienard, David E. |
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| Title |
Autopilot design for autonomous underwater vehicles based on sliding mode control |
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| Publisher |
Monterey, California: Naval Postgraduate School |
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| Description |
An autopilot is designed using Sliding Mode Control Theory that can control the speed and heading of a full six degree of freedom, nonlinear model that allows speed and heading to be treated as separate systems. Once control of heading and speed is established, depth control is achieved by a third control law. Although they are developed separately, the three individual control laws act simultaneously to provide robust control of speed, heading, and depth of the nonlinear model of the vehicle. Line of Sight Guidance is used to convert the way points provided by the mission planner into commands for heading to which the autopilot responds. The performance of the autopilot is evaluated over a wide range of speeds to demonstrate its robustness. In addition, the effects of current are simulated and the autopilot is modified to compensate for the presence of a strong current. Subjects: Remote submersibles; Vehicles; Remotely piloted; Control theory.; Autonomous; Underwater vehicles; AUV; Guidance; Control |
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| Language | English | |
| Publication date | June 1990 | |
| Current location |
IA Collections: navalpostgraduateschoollibrary; fedlink |
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| Accession number |
autopilotdesignf1094527778 |
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| Source | ||
| Permission (Reusing this file) |
This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. As such, it is in the public domain, and under the provisions of Title 17, United States Code, Section 105, may not be copyrighted. | |
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This work is in the public domain in the United States because it is a work prepared by an officer or employee of the United States Government as part of that person’s official duties under the terms of Title 17, Chapter 1, Section 105 of the US Code.
Note: This only applies to original works of the Federal Government and not to the work of any individual U.S. state, territory, commonwealth, county, municipality, or any other subdivision. This template also does not apply to postage stamp designs published by the United States Postal Service since 1978. (See § 313.6(C)(1) of Compendium of U.S. Copyright Office Practices). It also does not apply to certain US coins; see The US Mint Terms of Use.
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| This file has been identified as being free of known restrictions under copyright law, including all related and neighboring rights. | ||
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| Date/Time | Thumbnail | Dimensions | User | Comment | |
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| current | 11:05, 8 July 2020 |  | 1,275 × 1,650, 133 pages (3.59 MB) | Fæ (talk | contribs) | FEDLINK - United States Federal Collection autopilotdesignf1094527778 (User talk:Fæ/IA books#Fork8) (batch 1990-1992 #3329) |
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