Piloto automático de direção aplicado a um veículo autônomo submarino

Abstract

This work deals with the dynamic modeling, guidance and autopilot control of the Darpa Suboff ML02, a torpedo shape Autonomous Underwater Vehicles manufactured by Hydrodynamics Laboratory of Marine Nuclear Development Board.The model was develop considering the physical characteristics of the hull as well as the uncoupled movement with three degrees of freedom. As it is a project under development, the implementation of steering auto pilot will allow the execution of maneuvers in the horizontal plane,whichis the main contribution of this work. The Sliding Mode Control technique was chosen because of its robustness to the parametric uncertainties associated with unmodeled dynamics and rejection of external disturbances. The guidance method adopted is based on the vehicle’s line of sight guidance.The trajectories was created from cubic interpolationto inter connect the preprogrammed waypoints. Design guidance, control and navigation block simulations are presented for tracking proposed trajectories, including sea currents and parametric model variations. The results showed good tracking performance of pre-programmed trajectories, even in the presence of disturbances associated with the vehicle operating environment.