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Dynamics Modeling and Linear Controller Design of Marin Vehicles

Khodaei, Mohammad Javad | 2015

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 47597 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Seif, Mohammad Saeed; Banazadeh, Afshin
  7. Abstract:
  8. In recent years, autonomous underwater vehicles have had an increasing role in underwater investigations. These vehicles are used in various fields, including military applications, commercial uses or scientific investigates and also mapping purposes. The test and the fabrication of these kind of vehicles are very costly and time-consuming because of not only the risk of losing the vehicle due to the various computerized errors, but also as a result of the costs of supporting staff, equipment and the structure of a process. As a result of the environment where these vehicles do their missions, there is a crucial need of control methods which have enough accuracy as well as robustness against disturbances and even having the ability to attenuate the noises. There have been significant efforts in some fields like system identification, modeling, optimization, and control methods in order to increase the autonomy of these vehicles.. The dynamic model is a six-degree of freedom AUV and due to being in unknown underwater environment, indefinite, has been coupled and is nonlinear. The first chapter of this thesis is the preliminary discussion of the AUVs and offers control methods for them. In the second chapter, the dynamic model of the vehicle and the related equations are discussed thoroughly and environmental disturbances and the necessary equations to implement them are provided and this equations are simulated in Matlab. The third chapter, firstly, discusses the frequency response method, then by using this method the dynamic model in both horizontal and vertical (depth) planes have been obtained. In the fourth chapter, the validity of the derived model has been investigated.In the fifth chapter by using validated model, the linear controller for motion in both horizontal and vertical planes has been designed and in sixth chapter with testing in pool controller performance has been evaluated
  9. Keywords:
  10. Controller Design ; Autonomous Underwater Vehicle ; Frequency Response ; Experimental Test ; Controller Fabrication

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