Iver2 AUV Control Design Thesis Defense

Analysis, Redesign and Verification of the Iver2 Autonomous Underwater Vehicle Motion Controller A Thesis in Electrical Engineering by Eric A. Leveille Submitted in Partial Fulfillment of the Requirements for the Degree of Master of Science July, 2007

Committee Members ,[object Object],[object Object],[object Object],[object Object]

Presentation Overview ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Motivation for Research ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

The Iver2 AUV ,[object Object],[object Object],[object Object],[object Object]

Original Motion Controller Design ,[object Object],[object Object],[object Object]

Iver2 Model Development ,[object Object],[object Object]

Controller Design and Implementation ,[object Object],[object Object],[object Object]

Vehicle Kinematics ,[object Object],[object Object]

Control Coordinate System ,[object Object],[object Object]

Rigid Body Dynamics ,[object Object], .

External Forces and Moments ,[object Object],[object Object]

6-DOF Nonlinear Model ,[object Object],[object Object]

Depth Plane Control Structure ,[object Object],[object Object]

Inner Pitch Loop Design ,[object Object],[object Object],[object Object]

Type A PD Controller [6] ,[object Object]

Type B PD Controller ,[object Object]

Pitch Controller Step Response ,[object Object],[object Object],[object Object],[object Object]

Outer Depth Loop Controller ,[object Object],[object Object]

P Controller Depth Response ,[object Object],[object Object]

PI Controller Depth Response ,[object Object],[object Object]

Nonlinear Depth Plane Simulation ,[object Object],[object Object]

Linear Control Signals ,[object Object],[object Object]

Saturating Nonlinearities ,[object Object],[object Object]

Linear and Saturated Responses ,[object Object],[object Object],[object Object]

Integrator Windup ,[object Object],[object Object]

Preventing Integrator Windup [7] ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Simulated Anti-windup Techniques ,[object Object]

Implemented Depth Controller ,[object Object],[object Object],[object Object]

Old vs New Depth Responses Old Controller New Controller ,[object Object]

Old vs New Pitch Responses Old Controller New Controller ,[object Object]

Old vs New Control Fin Angles Old Controller New Controller ,[object Object]

Future Improvements ,[object Object],[object Object],[object Object]

Conclusion ,[object Object],[object Object],[object Object]

References ,[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

Iver2 AUV Control Design Thesis Defense

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Iver2 AUV Control Design Thesis Defense