Author Type

Graduate Student

Date of Award

2014

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

An, Edgar

Abstract

Autonomous Underwater Vehicle (AUV) depth control methods typically use a pressure sensor to measure the depth, which results in the AUV following the trajectory of the surface waves. Through simulations, a controller is designed for the Ocean Explorer AUV with the objective of the AUV holding a constant depth below the still water line while operating in waves. This objective is accomplished by modeling sensors and using filtering techniques to provide the AUV with the depth below the still water line. A wave prediction model is simulated to provide the controller with knowledge of the wave disturbance before it is encountered. The controller allows for depth keeping below the still water line with a standard deviation of 0.04 and 0.65 meters for wave amplitudes of 0.1-0.25 and 0.5-2 meters respectively and wave frequencies of 0.35-1.0 ������⁄������, and the wave prediction improves the depth control on the order of 0.03 meters.

Extent

119 p.

Comments

Includes bibliography.|Thesis (M.S.)--Florida Atlantic University, 2014.|FAU Electronic Theses and Dissertations Collection|Includes bibliography.

Identifier

FA00004149

Format

pdf

Download

Share

COinS