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    Control of the Maya AUV in the vertical and horizontal planes: Theory and practical results

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    7_IFAC_Conf_Manoeuvring_Control_Marine_Craft_2006.pdf (363.4Kb)
    Date
    2007
    Author
    Maurya, P.
    Desa, E.
    Pascoal, A.
    Barros, E.
    Navelkar, G.S.
    Madhan, R.
    Mascarenhas, A.A.M.Q.
    Prabhudesai, S.P.
    Afzulpurkar, S.
    Gouveia, Ashwin
    Naroji, S.
    Sebastiao, l.
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    Abstract
    The paper describes the design and testing of the depth and heading autopilots for a small Autonomous Underwater Vehicle (AUV) named Maya. Control system design is done using the LQ (Linear-Quadratic) optimization technique based on a mathematical model of the AUV obtained by resorting to analytical and semi-empirical methods. Details of system implementation are given and the results of tests with the prototype vehicle are discussed. The paper concludes with a discussion of the interaction between motions in the horizontal and vertical planes due to an asymmetry in the placement of the stern control planes.
    URI
    http://drs.nio.org/drs/handle/2264/704
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