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Technical Reports, Virginia Center for Autonomous Systems

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https://hdl.handle.net/10919/19353

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Browsing Technical Reports, Virginia Center for Autonomous Systems by Author "Mahmoudian, N."

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    Dynamics & Control of Underwater Gliders II: Motion Planning and Control
    Mahmoudian, N.; Woolsey, Craig A. (Virginia Center for Autonomous Systems, 2010)
    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.
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    Dynamics and Control of Underwater Gliders I: Steady Motions
    Mahmoudian, N.; Geisbert, J.; Woolsey, Craig A. (Virginia Center for Autonomous Systems, 2007)
    This paper describes analysis of steady motions for underwater gliders, a type of highly efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles which locomote by modulating their buoyancy and their attitude. Several such vehicles have been developed and have proven their worth as efficient long-distance, long-duration ocean sampling platforms. To date, the primary emphasis in underwater glider development has been on locomotive efficiency; maneuverability has been a secondary concern. The ultimate aim of our research is to develop optimal motion control strategies which enhance the natural locomotive efficiency of underwater gliders by minimizing the energy expended by the control system. Ambitious applications such as persistent undersea surveillance require not only efficient vehicles, but efficient guidance and control schemes. This technical report aims to develop a better understanding of glider maneuverability, particularly with regard to turning motions. As a preliminary step, we develop an approximate analytical expression for steady turning motion for a realistic glider model. The problem is formulated in terms of regular perturbation theory, with the vehicle turn rate as the perturbation parameter. The resulting solution exhibits a special structure that allows one to apply existing optimal path planning results for planar mobile robots. The ultimate result is a simple, energy-efficient motion control method for underwater gliders.