Planar motion steering of underwater vehicles was studied by exploiting drag coefficient modulation. Modulation of longitudinal control surfaces resulted in suitability of controlling the sway velocity for the asymptotic convergence toward the desired final position and attitude of the vehicle. Simulation results compared with purely kinematics case showed the effectiveness of the proposed dynamic control technique.
Planar Motion Steering of Underwater Vehicles by Exploiting Drag Coefficient Modulation
INDIVERI, GIOVANNI
2001-01-01
Abstract
Planar motion steering of underwater vehicles was studied by exploiting drag coefficient modulation. Modulation of longitudinal control surfaces resulted in suitability of controlling the sway velocity for the asymptotic convergence toward the desired final position and attitude of the vehicle. Simulation results compared with purely kinematics case showed the effectiveness of the proposed dynamic control technique.File in questo prodotto:
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