کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
716897 | 892230 | 2012 | 6 صفحه PDF | دانلود رایگان |

This paper presents a control-oriented dynamic model of an underwater glider with independently controllable wings. We show that this particular feature is particularly useful to improve the vehicle's maneuverability.The only actuators here used are a ballast tank and two hydrodynamic wings. A switching control strategy, together with a backstepping control scheme, is designed to limit the action of the ballast tank and hence to enforce energy-efficient maneuvers.We consider a case study in which the vehicle has the hydrodynamic wings behind its main hull. This structure is motivated by the recently-introduced concept of the underwater wave glider, that is a vehicle capable of both surface and underwater navigation. The control algorithm is validated via numerical simulations of the vehicle performing three-dimensional path-following maneuvers.
Journal: IFAC Proceedings Volumes - Volume 45, Issue 27, 2012, Pages 194-199