Design of Tracking Control System of an Autonomous Underwater Vehicle for Following Moving Objects, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Nowadays, autonomous underwater vehicles (AUVs) are implemented to carry out various activities under water. Amongst applications of these vehicles we can mention monitoring of marine creatures, mine installation and neutralization, and many military applications. The objective of this research is designing a control algorithm for underwater vehicles such that an under actuated vehicle can reckon a moving target as a reference and whilst chasing it, vehicle can keep a fixed distance from this target. First the dynamics of underwater vehicles are modeled and in this modeling different effects due to under water motion such as drag force, buoyancy force, and also added mass are included...
Cataloging briefDesign of Tracking Control System of an Autonomous Underwater Vehicle for Following Moving Objects, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
Nowadays, autonomous underwater vehicles (AUVs) are implemented to carry out various activities under water. Amongst applications of these vehicles we can mention monitoring of marine creatures, mine installation and neutralization, and many military applications. The objective of this research is designing a control algorithm for underwater vehicles such that an under actuated vehicle can reckon a moving target as a reference and whilst chasing it, vehicle can keep a fixed distance from this target. First the dynamics of underwater vehicles are modeled and in this modeling different effects due to under water motion such as drag force, buoyancy force, and also added mass are included...
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