Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments

Author

• Andrea M. Meneses

Author Type

Graduate Student

Date of Award

2014

Document Type

Thesis

Publication Status

Version of Record

Submission Date

October 2026

Thesis/Dissertation Advisor [Chair]

Su, Tsung-Chow

Abstract

This thesis explores the feasibility of using morphing rudders in autonomous underwater vehicles (AUVs) to improve their performance in complex current environments. The modeling vehicle in this work corresponds to the Florida Atlantic University's Ocean EXplorer (OEX) AUV. The AUV nonlinear dynamic model is limited to the horizontal plane and includes the effect of ocean current. The main contribution of this thesis is the use of active rudders to successfully achieve path keeping and station keeping of an AUV under the influence of unsteady current force. A constant ocean current superimposed with a sinusoidal component is considered. The vehicle's response is analyzed for a range of current frequencies.

Extent

100 p.

Comments

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

Recommended Citation

Meneses, Andrea M., "Development of a morphing autonomous underwater vehicle for path and station keeping in complex current environments" (2014). Electronic Theses and Dissertations 2010 - 2019. 975.
https://digitalcommons.fau.edu/etd_general_6/975

Identifier

FA00004137

Format

pdf