Underwater Glider Dynamics and Control
نویسنده
چکیده
In this work, we build on our earlier results and accomplishments in understanding, modeling and controlling underwater glider dynamics (YIP Grant # N00014-98-1-0649). The focus is on dedicated gliding vehicles that have the ability to change mass (or volume) for buoyancy control and to redistribute mass (and possibly control a rudder) for attitude control. The framework consists of a dynamical systems model of underwater gliding vehicles together with techniques for generating and controlling glide maneuvers in the presence of uncertainty. The central objectives are as follows:
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