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Preliminary experiments in model-based thruster control for underwater vehicle positioning

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2 Author(s)
L. L. Whitcomb ; Dept. of Mech. Eng., Johns Hopkins Univ., Baltimore, MD, USA ; D. R. Yoerger

This paper reports comparative experiments with two novel and one conventional thrust control algorithms for the unsteady (transient) control of thrust generated by conventional bladed-propeller marine thrusters. First, comparative experiments with three different thrust control algorithms over a wide range of unsteady operating conditions suggest that model-based control algorithms offer transient thrust-control performance superior to that of their nonmodel-based counterpart. Second, hybrid simulations combining actual real-time experimental thruster responses with simulated one-dimensional real-time vehicle dynamics suggest that model-based thrust control algorithms offer vehicle position control superior to that of its nonmodel-based counterpart

Published in:

IEEE Journal of Oceanic Engineering  (Volume:24 ,  Issue: 4 )