Autonomous Underwater Vehicle (AUV) depth control methods typically use a
pressure sensor to measure the depth, which results in the AUV following the trajectory
of the surface waves. Through simulations, a controller is designed for the Ocean
Explorer AUV with the objective of the AUV holding a constant depth below the still
water line while operating in waves. This objective is accomplished by modeling sensors
and using filtering techniques to provide the AUV with the depth below the still water
line. A wave prediction model is simulated to provide the controller with knowledge of
the wave disturbance before it is encountered. The controller allows for depth keeping
below the still water line with a standard deviation of 0.04 and 0.65 meters for wave
amplitudes of 0.1-0.25 and 0.5-2 meters respectively and wave frequencies of 0.35-1.0
šššāš šš, and the wave prediction improves the depth control on the order of 0.03 meters. / Includes bibliography. / ThesisĀ (M.S.)--FloridaĀ AtlanticĀ University, 2014. / FAU Electronic Theses and Dissertations Collection
| Identifer | oai:union.ndltd.org:fau.edu/oai:fau.digital.flvc.org:fau_13493 |
| Contributors | Potesta, Joshua J. (author), An, Edgar (Thesis advisor), Florida Atlantic University (Degree grantor), College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering |
| Publisher | Florida Atlantic University |
| Source Sets | Florida Atlantic University |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation, Text |
| Format | 119 p., application/pdf |
| Rights | Copyright Ā© is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder., http://rightsstatements.org/vocab/InC/1.0/ |
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