An integrated approach to the design and analysis of navigation,guidance and control systems for autonomous underwater vehicles

摘要

This paper addresses the problem of designing guidance, navigationnand control systems for Autonomous Unmanned-Underwater Vehicles (AUVs)nto achieve accurate tracking of reference paths defined in a universalnreference frame. The theoretical framework adopted is illustrated with andesign example in which recent developments in multivariable controlntheory and classical results in navigation and guidance were applied tonthe design of a trajectory following system for the AUV MARIUS (MarinenUtility Vehicle System). The key ideas in the design methodology are tonclearly state performance specifications in the frequency domain and tonuse design tools that explicitly address these types of specifications.nThus, the natural constraint that the navigation, control and guidancensystems have decreasing bandwidths, can be directly incorporated in theninitial phase of the project. Analysis of the integrated system isnperformed using a simulation package that allows the user to assess thenimpact of the navigation. Guidance, and control algorithms on thendynamic behaviour of the vehicle