Autopilot System for Depth and Pitch Control in Underwater Vehicles: Navigating Near-Surface Waves and Disturbances
CoRR(2024)
摘要
This paper introduces a framework for depth and pitch control of underwater
vehicles in near-surface wave conditions. By effectively managing tail, sail
plane angles and hover tank operations utilizing a Linear Quadratic Regulator
controller and L1 Adaptive Autopilot augmentation, the system ensures balanced
control input distribution and significantly attenuates wave disturbances. This
development in underwater vehicle control systems offers potential for improved
functionality across a range of marine applications. The proposed framework is
demonstrated to be robust in a variety of wave conditions, enabling more
precise navigation and improved safety in operational scenarios. The
effectiveness of this control strategy is validated through extensive
simulations using the Joubert BB2 model.
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