Publication Date:
2022-05-25
Description:
Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution August 1989
Description:
The dynamics of deeply-towed cable/vehicle systems are governed by nonlinear
partial differential equations and as a result, trajectory control is generally difficult using
the available techniques. This work examines the possibility of utilizing parametric
dynamic models in differential equation form, to present a far more tractable controls
problem. A learning-model method for generating accurate approximations of this type
is used, and the identification process is unique in that an analytically-based model
provides the primary data sets, allowing for a priori characterization of system responses
without using any real data. The performances of the parametric forms are then verified
through comparison of model output against actual sea data obtained during recent
cruises in the Caribbean and Mediterranean Seas. The respective merits and limitations
of several different model structures are discussed, with respect to both pure performance
and identification efficiency.
Description:
The Office of Naval Research is gratefully acknowledged for its financial support of my
graduate education, under Contract N00014-85-G-0084; in addition, this work has been
sponsored in part by the National Science Foundation under Contract OCE-8511431.
Finally, the International Business Machines Corporation is acknowledged for graciously
providing the computing facilities that were critical to this thesis.
Keywords:
Underwater exploration
;
Vehicles, remotely piloted
;
Oceanographic submersibles
Repository Name:
Woods Hole Open Access Server
Type:
Thesis
Format:
application/pdf
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