Dynamics & Control of Underwater Gliders Ii: Motion Planning and Control
نویسندگان
چکیده
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, including the special case of wings level glides, one may construct feasible paths for the gliders to follow. Because the turning motion results are only approximate, however, and to compensate for model and environmental uncertainty, one must incorporate feedback to ensure precise path following. This report describes the development and numerical implementation of a feedforward/feedback motion control system for a multi-body underwater glider model. Since the motion control system relies largely on steady motions, it is intrinsically efficient. Moreover, the nature of the steady turn approximations suggests a method for nearly energy-optimal path planning.
منابع مشابه
Numerical simulation of hydrodynamic properties of Alex type gliders
Simulation of an underwater glider to investigate the effect of angle of attack on the hydrodynamic coefficients such as lift, drag, and torque. Due to the vital role of these coefficients in designing the controllers of a glider and to obtain an accurate result, this simulation has been studied at a range of operating velocities. The total length of the underwater glider with two wings is 900 ...
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 کاملDynamics and Control of Underwater Gliding
I am in terested in establishing a framework for studying dynamics and control of underwater gliders. I am focussing on dedicated gliding vehicles that hav e the ability to change mass (or v olume) for buoyancy control and to redistribute mass for attitude control. Later on it is of in terest to consider vehicles that use glide maneuvers to complement more traditional methods of control actuati...
متن کاملUNDERWATER GLIDERS: DYNAMICS, CONTROL AND DESIGN Joshua Grady Graver A DISSERTATION PRESENTED TO THE FACULTY OF PRINCETON UNIVERSITY IN CANDIDACY FOR THE DEGREE OF DOCTOR OF PHILOSOPHY RECOMMENDED FOR ACCEPTANCE BY THE DEPARTMENT OF MECHANICAL AND AEROSPACE ENGINEERING
This dissertation concerns modelling the dynamics of underwater gliders and application of the model to analysis of glider dynamics, control, navigation, and design. Underwater gliders are a novel type of autonomous underwater vehicle that glide by controlling their buoyancy and attitude using internal actuators. We develop a first principles based model of the dynamics of a general underwater ...
متن کامل