منابع مشابه
Routing strategies for underwater gliders
rapidly reach a specified waypoint or to maximize the ability to map a measured field, both in the presence of significant currents. For rapid transit in a frozen velocity field, direct minimization of travel time provides a trajectory ‘‘ray’’ equation. A simpler routing algorithm that requires less information is also discussed. Two approaches are developed to maximize the mapping ability, as ...
متن کاملStabilization and Coordination of Underwater Gliders
An underwater glider is a buoyancy-driven, fixedwing underwater vehicle that redistributes internal mass to control attitude. We examine the dynamics of a glider restricted to the vertical plane and derive a feedback law that stabilizes steady glide paths. The control law is physically motivated and with the appropriate choice of output can be interpreted as providing input-output feedback line...
متن کاملPassivity - Based Stabilization of Underwater Gliders With a Control Surface
The problem of stabilizing steady gliding is critical for an underwater glider, which is subject to many non-negligible disturbances from the aquatic environment. In this paper, we propose a new systematic controller design and implementation approach for the stabilization problem, including a nonlinear, passivity-based controller and a nonlinear model-based observer, where the actuation is rea...
متن کاملDynamics & Control of Underwater Gliders Ii: Motion Planning and Control
This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance and control. In previous work, the authors derived an approximate analytical expression for steady turning motion by applying regular perturbation theory to a sophisticated vehicle dynamic model. Using these steady turn solutions, includin...
متن کاملPersistent ocean monitoring with underwater gliders: Adapting sampling resolution
Ryan N. Smith School of Engineering Systems, Queensland University of Technology, Brisbane, Queensland 4000, Australia e-mail: [email protected] Mac Schwager GRASP Lab, University of Pennsylvania, Philadelphia, Pennsylvania 19104 e-mail: [email protected] Stephen L. Smith Electrical and Computer Engineering, University of Waterloo, Waterloo, Ontario N2L 3G1, Canada e-mail: stephen.smi...
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ژورنال
عنوان ژورنال: MATEC Web of Conferences
سال: 2014
ISSN: 2261-236X
DOI: 10.1051/matecconf/20141302020