טכניון מכון טכנולוגי לישראל
הטכניון מכון טכנולוגי לישראל - בית הספר ללימודי מוסמכים  
M.Sc Thesis
M.Sc StudentGur Doron
SubjectMIMO Modeling, QFT Control Design and Optimal Obstacle
Avoidance Path Planner for an AUV
DepartmentDepartment of Autonomous Systems and Robotics
Supervisor Professor Emeritus Per-Olof Gutman


Abstract

Linear modeling and robust positioning control system design for submarine path tracking is considered in this thesis. In marine research missions, a 3 dof path planner and a servo control system are used to accurately position a submarine above the seabed in order to take accurate pictures. When taking pictures, keeping a constant distance is one of the most basics rules, the other option is to control the zoom with high accuracy. The goal of this thesis is to provide a linear modeling algorithm and a robust qft mimo control algorithm for an AUV, autonomous underwater vehicle. The mimo qft design includes the design specifications and the Horowitz-Sidi bounds that are shown on the Nichols chart. Loop shaping was done for a nominal plant whereas the bounds ensure that the closed loop is stable and satisfies specifications for all modeled plant uncertainties. Experiments are present here in order to demonstrate the whole control design procedure, from modeling to performance tests. The practical part of this thesis includes an integrating solution for the motor analog input voltage. A PWM signal is transmitted via communication (RF) to the motor inputs. Both Surge and Saw motors are working non-simultaneously sharing the same PWM source.