Interest in unmanned underwater vehicles (UUVs) has been increasing recently, with a large number of possible applications being considered. These include intelligence-gathering, mine detection, and surveillance applications. Regardless of the intended mission, a strong need exists for reliable and robust control of the vehicle. The proposed vehicle is shown in Figure DP4.7(a) [28].
We want to control the vehicle through a range of operating conditions. The vehicle is 30 feet long with a vertical sail near the front. The control inputs are stern plane, rudder, and shaft speed commands. In this case, we wish to control the vehicle roll by using the stern planes. The control system is shown in Figure DP4.7(b), where R(s) = 0, the desired roll angle, and Td(s) = l/s. Suppose that the controller is
Gc(s) = K(s + 2).
(a) Design the controller gain K such that the maximum roll angle error due the unit step disturbance input is less than 0.05.
(b) Compute the steady-state roll angle error to the disturbance input and explain the result.
Figure DP4.7
Control of an underwater vehicle.

Transcribed Image Text:

Sail Plane Rudder T As → Roll 5 ingle