“The control system of an autonomous underwater vehicle”

Authors: Bjørn Jalving and Nils Størkersen,
Affiliation: Norwegian Defence Research Establishment (FFI)
Reference: 1995, Vol 16, No 2, pp. 107-117.

Keywords: Autonomous underwater vehicle, flight control system, sea trials

Abstract: This paper presents the flight control system of an Autonomous Underwater Vehicle (AUV) developed at the Norwegian Defence Research Establishment. A mathematical model of the vehicle is derived and discussed. The system is separated into lightly interacting subsystems and three autopilots are designed for steering, diving and speed control. The design of the separate controllers is based on PID techniques. Results from sea trials show robust performance and stability for the autopilot.

PDF PDF (1260 Kb)        DOI: 10.4173/mic.1995.2.3

DOI forward links to this article:
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  title={{The control system of an autonomous underwater vehicle}},
  author={Jalving, Bjørn and Størkersen, Nils},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}