Longitudinal, Near-Surface Maneuvering of a Prolate Spheroid

被引：2

作者：

Chen, Ying-Chun ^{[1
]}

Jung, Seyong ^{[1
]}

Woolsey, Craig ^{[1
]}

机构：

[1] Virginia Tech, Aerosp & Ocean Engn, Blacksburg, VA 24061 USA

来源：

IFAC PAPERSONLINE | 2019年 / 52卷 / 21期

关键词：

Underwater vehicle; near-surface maneuvering; control; hydrodynamics;

D O I：

10.1016/j.ifacol.2019.12.315

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A motion model for a prolate spheroid moving beneath a calm free surface is used to develop a gain-scheduled controller for longitudinal, near-surface maneuvering. The motion model that is used for control design is the impulsive (memory-free) component of a Lagrangian mechanical system model that was recently developed for submerged vessels maneuvering near a free surface. A simple representation of memory effects is included as a perturbation to examine the effectiveness of the feedback controller designed using the simpler model. Copyright (C) 2019. The Authors. Published by Elsevier Ltd. All rights reserved.

引用

页码：248 / 253

页数：6

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