Modeling, Estimation, and Control of Actuator Dynamics for Remotely Operated Underwater Vehicles

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dc.contributor.advisorPaley, Derek Aen_US
dc.contributor.authorBoehm, Jordanen_US
dc.contributor.departmentAerospace Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2019-10-02T05:34:05Z
dc.date.available2019-10-02T05:34:05Z
dc.date.issued2019en_US
dc.description.abstractModeling and control of remotely operated underwater vehicles is a challenging problem that depends greatly on how the dynamics of their thrusters are compensated. In this thesis a novel method for characterizing thruster dynamics using a six-axis load cell is presented. Multiple dynamic models are characterized with this test setup. Model-based control design strategies are used to compensate for nonlinearities in the dynamics, which include input dead zones and coupling with fluid dynamics. Multiple estimation methods are presented to construct an estimate of fluid velocity which is handled as an unmeasured state. The different models, controllers, and estimators are comparatively evaluated in closed-loop experiments using the six-axis load cell to measure thrust tracking performance. Full vehicle simulations using the experimentally characterized models provide additional opportunities for comparison of control and estimation strategies. The potential tracking control benefits from the variety of presented thruster dynamics compensation strategies are evaluated for a remotely operated underwater vehicle with multiple thrusters.en_US
dc.identifierhttps://doi.org/10.13016/saob-454x
dc.identifier.urihttp://hdl.handle.net/1903/25194
dc.language.isoenen_US
dc.subject.pqcontrolledOcean engineeringen_US
dc.subject.pqcontrolledAerospace engineeringen_US
dc.subject.pquncontrolledActuator Dynamicsen_US
dc.subject.pquncontrolledNonlinear Estimationen_US
dc.subject.pquncontrolledOutput Feedback Controlen_US
dc.subject.pquncontrolledRemotely Operated Underwater Vehicleen_US
dc.subject.pquncontrolledSystem Identificationen_US
dc.titleModeling, Estimation, and Control of Actuator Dynamics for Remotely Operated Underwater Vehiclesen_US
dc.typeThesisen_US

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