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dc.contributor.authorGibson, Scott Brianen_US
dc.date.accessioned2018-08-02T08:00:18Z
dc.date.available2018-08-02T08:00:18Z
dc.date.issued2018-08-01
dc.identifier.othervt_gsexam:16585en_US
dc.identifier.urihttp://hdl.handle.net/10919/84468
dc.description.abstractIn this dissertation, we seek to improve the dynamic modeling and control of autonomous underwater vehicles (AUVs). We address nonlinear hydrodynamic modeling, simplifying modeling assumptions, and robust control for AUVs. In the literature, various hydrodynamic models exist with varying model complexity and with no universally accepted model. We compare various hydrodynamic models traditionally employed to predict the motion of AUVs by estimating model coefficients using least-squares and adaptive identifier techniques. Additionally, we derive several dynamic models for an AUV employing varying sets of simplifying assumptions. We experimentally assess the efficacy of invoking typical assumptions to simplify the equations of motion. For robust control design, we develop a procedure for designing robust attitude controllers based on loop-shaping ideas. We specifically address the challenge of adjusting the desired actuator bandwidth in a loop-shaping design framework. Finally, we present a novel receding horizon H-infinity control algorithm to improve the control of autonomous vehicle systems working in high-disturbance environments, employing a Markov jump linear system framework to model the stochastic and non-stationary disturbances experienced by the vehicle. Our main results include a new Bounded Real Lemma for stability analysis and an output feedback H-infinity control synthesis algorithm. This work uses numerical simulations and extensive field trials of autonomous underwater vehicles to identify and verify dynamic models and to validate control algorithms developed herein.en_US
dc.format.mediumETDen_US
dc.publisherVirginia Techen_US
dc.rightsThis item is protected by copyright and/or related rights. Some uses of this item may be deemed fair and permitted by law even without permission from the rights holder(s), or the rights holder(s) may have licensed the work for use under certain conditions. For other uses you need to obtain permission from the rights holder(s).en_US
dc.subjectautonomous vehiclesen_US
dc.subjectdynamicsen_US
dc.subjectparameter estimationen_US
dc.subjectH-infinity controlen_US
dc.subjecttime-inhomogeneous Markov jump linear systemsen_US
dc.titleImproved Dynamic Modeling and Robust Control of Autonomous Underwater Vehiclesen_US
dc.typeDissertationen_US
dc.contributor.departmentElectrical Engineeringen_US
dc.description.degreePh. D.en_US
thesis.degree.namePh. D.en_US
thesis.degree.leveldoctoralen_US
thesis.degree.grantorVirginia Polytechnic Institute and State Universityen_US
thesis.degree.disciplineElectrical Engineeringen_US
dc.contributor.committeechairStilwell, Daniel J.en_US
dc.contributor.committeememberWoolsey, Craig A.en_US
dc.contributor.committeememberMacKenzie, Allen B.en_US
dc.contributor.committeememberBrizzolara, Stefanoen_US
dc.contributor.committeememberTokekar, Pratapen_US


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