Dynamics & Control of Underwater Gliders II: Motion Planning and Control

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dc.contributor.authorMahmoudian, N.en
dc.contributor.authorWoolsey, Craig A.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.issued2010en
dc.description23 p.en
dc.description.abstractThis 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.en
dc.format.mimetypeapplication/pdfen
dc.identifier.urihttp://hdl.handle.net/10919/19359en
dc.identifier.urlhttp://www.unmanned.vt.edu/discovery/reports/VaCAS_2010_02.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.subjectUnderwater glidersen
dc.subjectMotion controlen
dc.subjectLocomotive efficiencyen
dc.titleDynamics & Control of Underwater Gliders II: Motion Planning and Controlen
dc.title.alternativeVaCAS-2010-02en
dc.typeTechnical reporten
dc.type.dcmitypeTexten
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