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Modeling and Designing Dynamic Positioning System for an Underwater Vehicle

Hatami Landi, Mohammad | 2020

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 53251 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Seif, Mohammad Saeed
  7. Abstract:
  8. The aim of this study is to design a control system for an autonomous underwater vehicle and evaluate this system for different missions. Due to the non-linear behavior of the target robot, both linear and non-linear behavior of the system was studied. Model Predictive control method has been implemented since it can outline both linear and non-linear controllers. The first non-linear dynamics of this robot, maneuvering equipment, and external disturbances (waves and ocean current) were modeled. Then, to design the linear controller, the equations of motion have been linearized around the working point(cruise speed). In order to analyze both designed controllers, various duties have been investigated, including velocity control, angle of motion, following a specific path, following the sea bed height, and moving under the effect of external forces. Results show that both controllers can control velocity and angles of motion with acceptable errors and negligible differences. When the desired path has infinite and instant changes- in the case of following a specific path and the sea bed height, the non-linear controller could better follow the desired path. The maximum difference between these controllers' functions was in the movement during ocean current, in which the non-linear controller could better achieve the desired point
  9. Keywords:
  10. Autonomous Underwater Vehicle ; Waves ; Model Predictive Control ; Dynamic Modeling ; Linear Control ; Nonlinear Control ; Path Following ; Sea Currents ; Positioning

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