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AUV Model
Control system design is done using the LQ (Linear-Quadratic)
optimization technique based on a mathematical
model of the AUV obtained by resorting to analytical
and semi-empirical methods.
The MAYA AUV has a streamlined torpedo-like body
propelled by a single thruster. For vehicle maneuvering,
two stern planes and a single stern rudder underneath
the hull are used. Following common practice,
the full six degrees of freedom model for the
AUV was split into two separate models for the
vertical and horizontal planes [1].
(a) depth (b) Pitch Angle (c)
Pitch rate (d) Stern Planes
The controller was implemented on a PC104 embedded
computer running on Linux operating system. The
control loops were executed at 10 Hz. Depth control
of Maya was tested at Amthane Lake in Goa and
the results are shown in figure 4. The initial
glitch in figure 4a is due to surface effects.
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