Rekabentuk dan analisis sistem pengawalan bagi sebuah kenderaan bawah-air

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dc.contributor.authorMohamed Yusof, Radzak
dc.date.accessioned2014-11-14T07:56:15Z
dc.date.available2014-11-14T07:56:15Z
dc.date.issued2005
dc.descriptionMasteren_US
dc.description.abstractUnderwater vehicles technology has became an important tool for maritime application due to its capability in performing a variety of tasks such as pipeline cable inspection, undersea environmental monitoring and military operations. In this research project, a derivation of mathematical model was done by using a new underwater vehicle design as a reference. This new underwater vehicle or USM Autonomous Undewater Vehicle (USM-AUV) used two pairs of thruster motors in order to generate the propulsion forces. From the underwater vehicle thrusters’ configuration, a new mathematical model of an AUV has been proposed. This mathematical model is crucial in the vehicle controller system design. This test bed vehicle was then utilized in the advanced controller system design. A state space design approach has been used due to the fact that this design approach is suitable for nonlinear system and multi input multi output (MIMO) set-up. The full state feedback control scheme under the state space design topic was then selected for the controller design. The design problems have been divided to two separate components i.e. depth control and speed control systems. Analysis of the control system performances was conducted in MATLAB/Simulink control simulation software. A satisfactory performance has been achieved from the designed controller system. The result shows that the controller performance for depth control system and speed control system has been achieved.en_US
dc.identifier.urihttp://hdl.handle.net/123456789/517
dc.language.isoenen_US
dc.subjectElectric and electronic engineeringen_US
dc.subjectUnderwater vehicleen_US
dc.subjectController systemen_US
dc.subjectDesignen_US
dc.titleRekabentuk dan analisis sistem pengawalan bagi sebuah kenderaan bawah-airen_US
dc.typeTechnical Reporten_US
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