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Optimal Control of an Undersea Glider in a Symmetric Pull-up

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dc.contributor.authorKraus, R.en
dc.contributor.authorCliff, Eugene M.en
dc.contributor.authorWoolsey, Craig A.en
dc.contributor.authorLuby, J.en
dc.contributor.departmentVirginia Center for Autonomous Systemsen
dc.date.accessed2013-04-25en
dc.date.accessioned2013-04-25T20:55:52Zen
dc.date.available2013-04-25T20:55:52Zen
dc.date.issued2008en
dc.description18 p.en
dc.description.abstractAn undersea glider is a winged autonomous undersea vehicle which modulates its buoyancy to rise or sink and moves its center of mass to control pitch and roll attitude. By properly phasing buoyancy and pitch control, an undersea glider rectifies the vertical motion caused by changes in buoyancy into forward motion caused by the lift force on the fixed wing. The characteristic "porpoising" motion is useful in oceanographic surveys and the propulsion method is extremely efficient - undersea gliders routinely operate for months without human intervention. Glider efficiency could be improved even further by addressing the phenomenon of "stall" (loss of lift) when a glider transitions from downward to upward flight. Because the stall phenomenon occurs asymmetrically over the vehicle's wing, it can cause directional errors which must be corrected at a corresponding energetic cost. This paper describes the formulation of a point mass model and its dynamic equations of motion. An optimal control formulation was designed using angle of attack and buoyancy as controls to investigate control scheduling methods for avoiding stall in a symmetric pull-up. The calculations were repeated using three different numerical solution techniques for comparison of the methodologies and results. The model was updated to include longitudinal rigid body dynamics and changed the control to the rate of change of the longitudinal center of gravity location. This model allowed for the inclusion of added mass effects due to fluid displacement.en
dc.format.mimetypeapplication/pdfen
dc.identifier.urihttp://hdl.handle.net/10919/19357en
dc.identifier.urlhttp://www.unmanned.vt.edu/discovery/reports/VaCAS_2008_03.pdfen
dc.languageEnglishen
dc.publisherVirginia Center for Autonomous Systemsen
dc.relation.ispartofseriesVaCASen
dc.rightsIn Copyrighten
dc.rights.holderCopyright, Virginia Polytechnic Institute and State Universityen
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subjectUndersea glidersen
dc.subjectBuoyancyen
dc.subjectStallingen
dc.subjectGlider efficiencyen
dc.titleOptimal Control of an Undersea Glider in a Symmetric Pull-upen
dc.title.alternativeVaCAS-2008-03en
dc.typeTechnical reporten
dc.type.dcmitypeTexten

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Technical Reports, Virginia Center for Autonomous Systems
Destination Area: Intelligent Infrastructure for Human-Centered Communities (IIHCC)