A Maneuvering Model for an Underwater Vehicle Near a Free Surface—Part III: Simulation and Control Under Waves
| dc.contributor.author | Valentinis, Francis | en |
| dc.contributor.author | Battista, Thomas | en |
| dc.contributor.author | Woolsey, Craig A. | en |
| dc.date.accessioned | 2024-11-06T15:07:36Z | en |
| dc.date.available | 2024-11-06T15:07:36Z | en |
| dc.date.issued | 2023-07 | en |
| dc.description.abstract | This article incorporates free-surface and ambient wave effects into a nonlinear parametric model. Subsequently, its use is demonstrated via simulation of a scale model submarine maneuvering under the control of a nonlinear depth-keeping control system in a seaway. An energy-based model is presented, which represents the underactuated submarine in a free-surface-affected state. This model is then used to synthesize a control law using port-Hamiltonian theory and interconnection and damping assignment passivity-based control. The Lyapunov analysis is used to study the stability of the closed-loop system, and a simulation-based demonstration illustrates the performance of the control law. The results demonstrate that a closed-loop nonlinear controller is able to improve the quality of near-surface depth keeping by automatically compensating for parasitic effects in the hydrodynamics that can compromise depth-keeping performance during maneuvers. | en |
| dc.description.sponsorship | Office of Naval Research (Grant Number: N00014-14-1-0651 and N00014-16-1-2749 and N00014-20-1-2621) | en |
| dc.description.version | Accepted version | en |
| dc.format.extent | pp. 752-777 | en |
| dc.format.mimetype | application/pdf | en |
| dc.identifier.doi | https://doi.org/10.1109/JOE.2023.3234811 | en |
| dc.identifier.issue | 3 | en |
| dc.identifier.orcid | Woolsey, Craig A. [0000-0003-3483-7135] | en |
| dc.identifier.uri | https://hdl.handle.net/10919/121569 | en |
| dc.identifier.volume | 48 | en |
| dc.language.iso | en | en |
| dc.publisher | IEEE | en |
| dc.rights | In Copyright | en |
| dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | en |
| dc.title | A Maneuvering Model for an Underwater Vehicle Near a Free Surface—Part III: Simulation and Control Under Waves | en |
| dc.title.serial | IEEE Journal of Oceanic Engineering | en |
| dc.type | Article - Refereed | en |
| dc.type.dcmitype | Text | en |
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