Innovative Methods for Optimally Mixing a Diverse Suite of Control Effectors for Marine Vehicles

Award Information
Agency:
Department of Defense
Branch
Navy
Amount:
$598,598.00
Award Year:
2005
Program:
SBIR
Phase:
Phase II
Contract:
N00024-06-C-4103
Agency Tracking Number:
N041-033-1358
Solicitation Year:
2004
Solicitation Topic Code:
N04-033
Solicitation Number:
2004.1
Small Business Information
BARRON ASSOCIATES, INC.
1410 Sachem Place Suite 202, Charlottesville, VA, 22901
Hubzone Owned:
N
Socially and Economically Disadvantaged:
N
Woman Owned:
N
Duns:
120839477
Principal Investigator:
Alec J.D. Bateman
Research Scientist
(434) 973-1215
bateman@barron-associates.com
Business Contact:
David Ward
President
(434) 973-1215
barron@barron-associates.com
Research Institution:
n/a
Abstract
The control of modern underwater vehicles presents a number of challenges, including significant nonlinearities in the vehicle dynamics and a potentially large suite of control effectors with widely differing properties. Current generation control architectures for submarines are often characterized by independent control loops for each actuator or for different vehicle axes, which are not able to explicitly address interactions among loops, particularly nonlinear interactions, or to combine the full suite of control effectors to produce a desired vehicle response. In Phase I, the team began developing inner-loop control approaches that address these deficiencies, and demonstrated these methods through their application to a fast-attack submarine model. The approaches combine model predictive control with a quadratic or piecewise linear programming based control allocator that explicitly accounts for actuator saturation nonlinearities. The Phase II effort will focus on refining the design methodology so that it can be used to rapidly implement a control law for any specific vehicle of interest. The proposed Phase II research effort will also add path planning and state estimation capabilities to provide a complete guidance and control system for submersibles. The broad applicability of the design methodology will be validated through its application to multiple diverse vehicle models.

* information listed above is at the time of submission.

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