Publication Detail

System Identification of Open-Loop Maneuvers Leads to Improved AUV Flight Performance

Mark E. Rentschler, Franz Hover, Chryssostomos Chryssostomidis
9 pp.
MITSG 06-13J
$5.50 DOM / $7.50 INT

The authors focus on demonstrating a simple design procedure for the Odyssey III autonomous underwater vehicle (AUV) flight control system. This procedure can be carried out quickly and routinely to maximize vehicle effectiveness. A hydro-dynamic model of the vehicle was first developed from theory and bench-top laboratory tests. Using this initial model, a controller was developed from basic principles. Then, using this initial controller to reach a desired typical operating condition, a very compact set of open-loop maneuvers was performed in the field.
The vehicle model was optimized using the Nelder–Mead simplex method, and a revised controller was then implemented and tested successfully.

type: Journal, book, proceeding reprints

Parent Project

Project No.: 2002-RD-021-ONR
Title: I-TANGO Interactions: topology, Accuracy and Numerics for Geometric Objects in Computer Aided Design

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