The subject of this project shows the research in the modeling of unmanned underwater vehicles more precisely on the hydrodynamic interactions, gravity and buoyancy effects and propulsion forces.
The accuracy of the unmanned underwater vehicle simulation is directly linked to its modeling accuracy. This project establishes a nonlinear six degrees of freedom model with the aim to keep the interactions between longitudinal and lateral dynamics modes.
There are two applications of this nonlinear modeling. The first application of a nonlinear model allows to better understand and analyze the dynamics of immersed vehicles. The second application allows to control it better in order to get it stealthier or to consume a minimal amount of energy.
We present here the formulation, step by step, of a global nonlinear model of the thrustvectored vehicle, explaining the interactions between the design and the modeling of the four-propeller vehicle.
Proportional Integral Derivative regulators are implemented with an input-output feedback linearization to observe unmanned underwater vehicle capacities.
A study of white noise robustness and actuators and motors inner-loop controls defines the limits of this thesis and the future research areas of this project.
| Date | 31 May 2010 |
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| Original language | French |
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| Awarding Institution | - École de technologie supérieure
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| Supervisor | Ruxandra Botez (Supervisor) |
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Boëly, N. (Author),
Botez (Supervisor),
31 May 2010Student thesis: Master's thesis › Master in Engineering: Engineering