Design and Investigation of a Dive Plane Sliding Mode Compensator for an Autonomous Underwater Vehicle.

摘要

A sliding mode compensator for depth control of an autonomous underwater vehicle (AUV) using depth feedback only is designed. The controller is evaluated for a nominal linear model and optimized by a series of numerical experiments for a number of depth changing maneuvers. A state observer is used in order to estimate the unmeasurable states together with the sliding mode controller. The effects of varying control parameters are discussed. Compensator performance is assessed by numerical simulation of AUV dynamic response based on the full six degrees of freedom nonlinear equations of motion. The expected robustness of the design is demonstrated by comparison between linear and nonlinear vehicle response characteristics, and by a wide variation in vehicle parameters and hydrodynamic coefficients. Finally, suggestions for design improvement and directions for future research are indicated. Keywords: Word processing; Script; Text processing; Theses. (SDW)