DocumentCode
1210328
Title
The NDRE-AUV flight control system
Author
Jalving, Bjørn
Author_Institution
Defence Res. Establ., Kjeller, Norway
Volume
19
Issue
4
fYear
1994
fDate
10/1/1994 12:00:00 AM
Firstpage
497
Lastpage
501
Abstract
The flight control system of an autonomous underwater vehicle (AUV) developed at the Norwegian Defence Research Establishment (NDRE) is presented. 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 PID techniques. Results from extensive sea testing show robust performance and stability for the autopilot
Keywords
military systems; stability; testing; three-term control; traffic control; velocity control; NDRE-AUV flight control system; Norwegian Defence Research Establishment; PID techniques; autonomous underwater vehicle; autopilot; autopilots; diving; lightly interacting subsystems; mathematical model; robust performance; sea testing; sea water batteries; separate controllers; speed control; stability; steering; Aerospace control; Force control; Marine vehicles; Mobile robots; Propellers; Remotely operated vehicles; Robust stability; System testing; Underwater vehicles; Velocity control;
fLanguage
English
Journal_Title
Oceanic Engineering, IEEE Journal of
Publisher
ieee
ISSN
0364-9059
Type
jour
DOI
10.1109/48.338385
Filename
338385
Link To Document