This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance. In previous work, the authors derived an approximate analytical expression for steady turning motion by applying regular perturbation theory to a realistic vehicle model. The analysis results suggested the use of a well-known time-optimal path planning procedure developed for the Dubins car, an often-used model of a wheeled mobile robot. For underwater gliders operating at their most efficient flight condition, time-optimal glide paths correspond to energy-optimal glide paths. Thus, an analytically informed strategy for energy-efficient locomotion is to generate sequences of steady wings-level and turning motions according to the Dubins path planning procedure. Because the turning motion results are only approximate, however, and to compensate for model and environmental uncertainty, one must incorporate feedback to ensure convergent path following. This paper describes the dynamic modelling of the complete multi-body control system and the development and numerical implementation of a motion control system. The control system can be combined with a higher level guidance strategy involving Dubins-like paths to achieve energy-efficient locomotion.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Underwater glider motion control


    Contributors:


    Publication date :

    2008


    Size :

    6 Seiten, 14 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    UNDERWATER GLIDER MOTION CONTROL SYSTEM

    SHCHEGLOV SERGEJ GEORGIEVICH | European Patent Office | 2019

    Free access

    UNDERWATER GLIDER

    CHOI HYEUNG SIK / HA JI HOON / JEON JI HYE et al. | European Patent Office | 2016

    Free access

    Underwater glider

    ALLUM RONALD CHARLES / LAVERY ALAN MIGUEL / JOHNSTON MATTHEW GLEN | European Patent Office | 2024

    Free access

    Underwater glider

    ALLUM RONALD CHARLES / LAVERY ALAN MIGUEL / JOHNSTON MATTHEW GLEN | European Patent Office | 2022

    Free access

    UNDERWATER GLIDER

    ALLUM RONALD CHARLES / LAVERY ALAN MIGUEL / JOHNSTON MATTHEW GLEN | European Patent Office | 2022

    Free access