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The control system of an autonomous underwater vehicle

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Author(s): Bjørn Jalving | Nils Størkersen

Journal: Modeling, Identification and Control
ISSN 0332-7353

Volume: 16;
Issue: 2;
Start page: 107;
Date: 1995;
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Keywords: Autonomous underwater vehicle | flight control system

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.
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