Unmanned Underwater Vehicles (UUV) in open-seas are highly nonlinear with system motions.
Because of the complex interaction of the body with environment it is difficult to
control them efficiently. Linearization is applied to system in order to design controllers developed
for linear systems. To overcome the effects of disturbances, a mathematical model
which will compensate all disturbances and effects of linearization is required. In this study
first a mathematical model is formed wherein the linear and nonlinear hydrodynamic coeffi-
cients are calculated with strip theory.
After the basic mathematical model is developed, it is simplified and decoupled into speed,
steering and diving subsystems. Consequently PID (Proportional Derivative Integral), SMC
(SlidingMode Control) and LQR (Linear Quadratic Regulator)/LQG (Linear Quadratic Gaussian)
control methods can be applied on each subsystem to design controllers. Some of the
system parameters can be estimated from state vector data based on measurements using the
methods of linear sequential estimation and genetic algorithms. As for the final part of the
study, an online obstacle avoidance algorithm which avoids local optimums using Boolean
operators is presented. In addition a simple guidance algorithm is suggested for waypoint
navigation.
Due to the fact that ULISAR UUV is still on construction phase, we were unable to test our algorithms. But in the near future, we plan to study all these algorithms on the UUV
ULISAR.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12608867/index.pdf |
| Date | 01 October 2007 |
| Creators | Isiyel, Kadir |
| Contributors | Leblebicioglu, Kemal |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for public access |
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