Dynamics & Control of Underwater Gliders I: Steady Motions
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Dynamics 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...
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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 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 ...
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تاریخ انتشار 2010