System identification of open-loop maneuvers leads to improved AUV flight performance |
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| Authors: | Rentschler ME Hover FS Chryssostomidis C |
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| Institution: | Massachusetts Inst. of Technol., Cambridge, MA, USA; |
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| Abstract: | The authors focus on demonstrating a simple design procedure for the Odyssey III autonomous underwater vehicle (AUV) flight control system. This procedure can be carried out quickly and routinely to maximize vehicle effectiveness. A hydrodynamic model of the vehicle was first developed from theory and bench-top laboratory tests. Using this initial model, a controller was developed from basic principles. Then, using this initial controller to reach a desired typical operating condition, a very compact set of open-loop maneuvers was performed in the field. The vehicle model was optimized using the Nelder-Mead simplex method, and a revised controller was then implemented and tested successfully. |
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