Model
Digital Document
Publisher
Florida Atlantic University
Description
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.
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.
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