LINEAR CONTROLLER FOR AUV

TO DESIGN AND DEVELOP A COMPUTER MODEL FOR LINEAR CONTROLLER OF AN AUTONOMOUS UNDERWATER VEHICLE




Thesis Supervisor: Dr. Rajiv Sharma



Thesis Candidate: Naval Tharun (NA12B020)

controller

• In control theory, a controller is a device which monitors and physically alters the operating conditions of a given dynamical system.
• Typical applications of controllers are for maneuvering, depth control and trim adjustments.

Linear controller

• Linear Controllers are made of devices which obey the superposition principle, which means roughly that the output is proportional to the input

Objective

• In the proposed work the focus will be on developing a robust linear control system using Fuzzy logic based modules and implement in MATLAB.
• The idea is to focus on application to various AUVs of different sizes and velocities.

timeline

• Aug-Sept 2015: Review of Literature
• Oct-Nov 2015: Modeling of AUV in MATLAB
• Nov-Dec 2015: Computing hydrodynamic derivatives and other input parameters

timeline

• Jan-Feb 2016: Designing of functional modules of controller in MATLAB
• March-April 2016: Design and implementation of fuzzy logic bases of the controller in MATLAB
• May 2016: Full implementation and thesis writing

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