DocumentCode
2508701
Title
The control system of an autonomous underwater vehicle
Author
Jalving, Bjørn ; Størkersen, Nils
Author_Institution
Defence Res. Establ., Kjeller, Norway
fYear
1994
fDate
24-26 Aug 1994
Firstpage
851
Abstract
This paper presents the navigation control system of an autonomous underwater vehicle (AUV) developed at the Norwegian Defence Research Establishment. 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 the PID technique. Results from sea trials show the robust performance and stability for the autopilot
Keywords
marine systems; navigation; position control; stability; three-term control; velocity control; AUV; Norwegian Defence Research Establishment; PID technique; autonomous underwater vehicle; autopilot; diving; navigation control system; speed control; stability; steering; Navigation; Position control; Proportional control; Stability; Underwater vehicle control; Velocity control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 1994., Proceedings of the Third IEEE Conference on
Conference_Location
Glasgow
Print_ISBN
0-7803-1872-2
Type
conf
DOI
10.1109/CCA.1994.381210
Filename
381210
Link To Document