Preliminary experiments in model-based thruster control for underwater vehicle positioning

This paper reports comparative experiments with two novel and one conventio nal thrust control algorithms for the unsteady (transient) control of thrus t generated by conventional bladed-propeller marine thrusters. First, compa rative experiments with three different thrust control algorithms over a wi de range of unsteady operating conditions suggest that model-based control algorithms offer transient thrust-control performance superior to that of t heir nonmodel-based counterpart. Second, hybrid simulations combining actua l real-time experimental thruster responses with simulated one-dimensional real-time vehicle dynamics suggest that model-based thrust control algorith ms offer vehicle position control superior to that of its nonmodel-based co unterpart.