Controller design for a sub-actuated autonomous underwater vehicle

• Grant number: 06/06685-1
• Support Opportunities: Scholarships in Brazil - Doctorate
• Start date: May 01, 2008
• End date: February 29, 2012
• Field of knowledge: Engineering - Naval and Oceanic Engineering
• Principal Investigator: Decio Crisol Donha
• Grantee: Juan Carlos Cutipa Luque
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil

Abstract

This research focuses the design of an Autonomous Underwater Vehicle (AUV). The project goal is the development of a complete AUV, including the choice a configuration, the synthesis and analysis of a mathematical model and control laws, till the end goal which is the construction and test of a prototype. The complexity of vehicle hydrodynamical design suggests the use of computational, empirical and semi-empirical methods to get the model parameters. After the validation of the mathematical model, experimental tests are further required to tune of parameters, leading then to the final model. Control laws development and application are major concerns in this research. The controllers must be available already in the synthesis stage, allowing its evaluation during the experimental tests. Since dynamic disturbances, uncertainties and sensor noises belong to the very nature of the problem dealed here, advanced control laws must be implemented to get desired levels of stability and performance during manouvers and station keeping.

Academic Publications

(References retrieved automatically from State of São Paulo Research Institutions)

LUQUE, Juan Carlos Cutipa. Identification and control of a sub-actuated autonomous underwater vehicle.. 2012. Doctoral Thesis - Universidade de São Paulo (USP). Escola Politécnica (EP/BC) São Paulo.