NDLI: Design and initial in-water testing of advanced non-linear control algorithms onto an Unmanned Underwater Vehicle (UUV)

Content Provider	IEEE Xplore Digital Library
Author	Djapic, V. Farrell, J.A. Miller, P. Arrieta, R.
Copyright Year	2007
Description	Author affiliation: SPAWAR Sys Cen, San Diego (Djapic, V.)
Abstract	UUVs equipped with high-level control software have a variety of potential applications for Anti-Terrorism/Force Protection (ATFP) objectives. Desirable vehicle control capabilities include the ability to drive at very low, controllable speeds, the ability to maintain a set distance and attitude (pitch and roll) relative to some surface for optimal sensor (both sonar and video) effectiveness, and the ability for the operator to intervene to change the mission activities. Moreover, a vehicle capable of rotating in place or having a fraction of a meter turning radius is needed to conduct the mission. The present state-of-art vehicles are not maneuverable enough to successfully accomplish most of these tasks. The novel controllers are expected to be nonlinear due to the fact that the vehicle is translating at nonzero attitude or translating in a direction different from that of the surface. Non-linear controller that compensates for non-linear forces (such as drag, buoyancy/gravity) was designed, installed onto the UUV test-bed, and in-water tested. The structure of a controller is hierarchical such that an "inner loop" non-linear controller (outputs the appropriate thrust values) is the same for all mission scenarios while an appropriate "outer-loop" nonlinear controller is used based on what mission or part of the mission is desired.
Starting Page	1
Ending Page	8
File Size	4215952
Page Count	8
File Format	PDF
ISBN	9780933957350
DOI	10.1109/OCEANS.2007.4449175
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-09-29
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	MTS
Subject Keyword	Algorithm design and analysis Testing Underwater vehicles Force control Optimal control Attitude control Application software Force sensors Protection Vehicle driving
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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