The control system of an autonomous underwater vehicle

The control system of an autonomous underwater vehicle

This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV) developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are design...

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Bibliographic Details
Main Authors: Bjørn Jalving, Nils Størkersen
Format: Article
Language:English
Published: Norwegian Society of Automatic Control 1995-04-01
Series:Modeling, Identification and Control
Subjects:
Autonomous underwater vehicle
flight control system
Online Access:http://www.mic-journal.no/PDF/1995/MIC-1995-2-3.pdf
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spelling doaj-9372860a84b641d18acc81ebec8830232020-11-24T22:30:05ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13281995-04-0116210711710.4173/mic.1995.2.3The control system of an autonomous underwater vehicleBjørn JalvingNils StørkersenThis paper presents the flight control system of an Autonomous Underwater Vehicle (AUV) developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PID techniques. Results from sea trials show robust performance and stability for the autopilot. http://www.mic-journal.no/PDF/1995/MIC-1995-2-3.pdfAutonomous underwater vehicleflight control system
collection DOAJ
language English
format Article
sources DOAJ
author Bjørn Jalving
Nils Størkersen
spellingShingle Bjørn Jalving
Nils Størkersen
The control system of an autonomous underwater vehicle
Modeling, Identification and Control
Autonomous underwater vehicle
flight control system
author_facet Bjørn Jalving
Nils Størkersen
author_sort Bjørn Jalving
title The control system of an autonomous underwater vehicle
title_short The control system of an autonomous underwater vehicle
title_full The control system of an autonomous underwater vehicle
title_fullStr The control system of an autonomous underwater vehicle
title_full_unstemmed The control system of an autonomous underwater vehicle
title_sort control system of an autonomous underwater vehicle
publisher Norwegian Society of Automatic Control
series Modeling, Identification and Control
issn 0332-7353
1890-1328
publishDate 1995-04-01
description This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV) developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PID techniques. Results from sea trials show robust performance and stability for the autopilot.
topic Autonomous underwater vehicle
flight control system
url http://www.mic-journal.no/PDF/1995/MIC-1995-2-3.pdf
work_keys_str_mv AT bjørnjalving thecontrolsystemofanautonomousunderwatervehicle
AT nilsstørkersen thecontrolsystemofanautonomousunderwatervehicle
AT bjørnjalving controlsystemofanautonomousunderwatervehicle
AT nilsstørkersen controlsystemofanautonomousunderwatervehicle
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