Control of the Maya AUV in the vertical and horizontal planes: Theory and practical results
Date
2007Author
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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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.
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