This paper introduces a control-oriented modelling approach for a hybrid autonomous underwater vehicle, the Underwater Wave Glider. The vehicle can accomplish both surface and underwater tasks by changing its shape: it can operate as a wave glider at the sea surface, exploiting wave and solar energy to recharge the onboard batteries, and switch to the typical torpedo-shaped configuration to operate as a self-propelled autonomous underwater vehicle. The vehicle dynamics is modelled using a novel Lagrangian approach. Simulation results are provided.
Lagrangian modelling of an underwater wave glider
Lagrange-Modellierung eines Hybridwasserfahrzeugs ( Oberflächenwellengleiter und Unterwasserfahrzeug)
Ship Technology Research / Schiffstechnik ; 59 , 1 ; 6-12
2012
7 Seiten, 4 Bilder, 1 Tabelle, 13 Quellen
Aufsatz (Zeitschrift)
Englisch
Lagrangian Modelling of an Underwater Wave Glider
Online Contents | 2012
|Lagrangian Modelling of an Underwater Wave Glider
Taylor & Francis Verlag | 2012
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