Longitudinal, Near-Surface Maneuvering of a Prolate Spheroid. Issue 21 (2019)

• Record Type: Journal Article
• Authors: Chen, Ying-Chun; Jung, Seyong; Woolsey, Craig
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 21(2019)
• Page Start: 248
• Page End: 253
• Publication Date: 2019
• Subjects: Underwater vehicle -- near-surface maneuvering -- control -- hydrodynamics; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.12.315
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: 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.