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.


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    Title :

    Lagrangian modelling of an underwater wave glider


    Additional title:

    Lagrange-Modellierung eines Hybridwasserfahrzeugs ( Oberflächenwellengleiter und Unterwasserfahrzeug)


    Contributors:

    Published in:

    Publication date :

    2012


    Size :

    7 Seiten, 4 Bilder, 1 Tabelle, 13 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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