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AUV Steering Parameter Identification for Improved Control Design June 2001 LT Jay H. Johnson

AUV Steering Parameter Identification for Improved Control Design June 2001 LT Jay H. Johnson Thesis Advisor Professor Anthony J. Healey. Funded by the Office of Naval Research. MOTIVATION Redesign High Performance. SYSTEM PARAMETER IDENTIFICATION LJUNG SODERSTRUM. Start.

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AUV Steering Parameter Identification for Improved Control Design June 2001 LT Jay H. Johnson

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  1. AUV Steering Parameter Identification for Improved Control Design June 2001 LT Jay H. Johnson Thesis Advisor Professor Anthony J. Healey Funded by the Office of Naval Research

  2. MOTIVATION • Redesign • High Performance • SYSTEM PARAMETER IDENTIFICATION • LJUNG • SODERSTRUM Start • BACKGROUND and • PREVIOUS LITERATURE • ABKOWITZ

  3. AUV SYSTEM MODEL Parameter ID y u Commands COMP CONT Vehicle Sensors

  4. EQUATIONS of MOTION Calculate Measure Estimate

  5. AUV MASS PROPERTIES

  6. AUV HYDRODYNAMIC ADDED MASS PROPERTIES Problems Associated With Actual Shape Modeling as Oblate Ellipsoid Modeling as Prolate Ellipsoid

  7. AUV SYSTEM IDENTIFICATION Error Regression Matrix manipulation

  8. RESULTS Sway Velocity Yaw Rate

  9. CONCLUSIONS • Overall problem of underwater vehicle modeling • Obtaining an accurate hydrodynamic model • Use of other methods • Method used in this report has many positive features • The utility of this approach • Data collected by the AUV • Increased knowledge of hydrodynamic parameters • This approach requires an initial steering controller • be designed successfully • Results of this study

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