Simulation environment for the design and test of the distributed controller for an autonomous underwater vehicle

Jian Gao, Ningning Zhao, Weisheng Yan, Demin Xu, Zhang Lichuan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

The real-time simulation environment is developed for the design and test of the distributed controller for the TESTBED autonomous underwater vehicle. The vehicle dynamics is real-timely simulated in an industrial control computer and all the motion sensors and actuators external to the distributed controller is modeled with proper interfaces, allowing complete pseudo-mission simulation and analysis in the lab environment. This environment is proved to be an effective tool that supports rapid diagnosis and correction of system faults.

Original languageEnglish
Title of host publication2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009
Pages3163-3166
Number of pages4
DOIs
StatePublished - 2009
Event2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009 - Xi'an, China
Duration: 25 May 200927 May 2009

Publication series

Name2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009

Conference

Conference2009 4th IEEE Conference on Industrial Electronics and Applications, ICIEA 2009
Country/TerritoryChina
CityXi'an
Period25/05/0927/05/09

Keywords

  • Autonomous underwater vehicle
  • Distributed control system
  • Pseudo-mission simulation testing
  • Real-time simulator

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