Title :
The NDRE-AUV flight control system
Author_Institution :
Defence Res. Establ., Kjeller, Norway
fDate :
10/1/1994 12:00:00 AM
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;
Journal_Title :
Oceanic Engineering, IEEE Journal of
