Spiraling motion of underwater gliders: Modeling, analysis, and experimental results

Zhang, Shaowei; Yu, Jiancheng; Zhang, Aiqun; Zhang, Fumin

doi:10.1016/j.oceaneng.2012.12.023

Cited by 184 publications

(87 citation statements)

References 33 publications

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“…In these expressions, M A , I A , and C A are diagonal and are approximated using the strip theory following [23]. According to Newton's second law, the rate of change of momentum of a body is equal to the forces applied to it.…”

Section: Kinematicsmentioning

confidence: 99%

“…Spiraling motion of gliders is a steady state glide motion in three dimensions and has been studied extensively in [23] and [22]. We utilize a modified version of the previously mentioned formulation to account for the ROUGHIE's improved roll mechanism.…”

Section: Kinematicsmentioning

confidence: 99%

“…We know that the glider speed in a circular helix is constant and the angular velocity is = R T ib ω 3k [23], where ω 3 is the angular velocity of the glider along the circular helix. We denote the turn radius of the glider by R t and express by…”

Section: Kinematicsmentioning

confidence: 99%

“…In general, steady state spiraling motion can be characterized by 10 parameters according to [23]: V , α, β, ω 3 , φ, θ , r rx , γ , R t , and net buoyancy. We have shown for our glider, however, that since steady state motion only depends on γ , r rx is not needed to characterize its spiraling motion.…”

Section: Kinematicsmentioning

confidence: 99%

“…A series of numerical and analytical studies on UG maneuverability investigate steady turn solutions using stability and performance analysis [8,12,22,23].…”

Section: Introductionmentioning

confidence: 99%

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Effective Turning Motion Control of Internally Actuated Autonomous Underwater Vehicles

Ziaeefard

Page

Pinar

et al. 2017

J Intell Robot Syst

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This paper presents a novel roll mechanism and an efficient control strategy for internally actuated autonomous underwater vehicles (AUVs). The developed control algorithms are tested on Michigan Tech's custom research glider, ROUGHIE (Research Oriented Underwater Glider for Hands-on Investigative Engineering), in a controlled environment. The ROUGHIE's design parameters and operational constraints were driven by its requirement to be man portable, expandable, and maneuverable in shallow water. As an underwater glider, the ROUGHIE is underactuated with direct control of only depth, pitch, and roll. A switching control method is implemented on the ROUGHIE to improve its maneuverability, enabling smooth transitions between different motion patterns. This approach uses multiple feedforwardfeedback controllers. Different aspects of the roll mechanism and the effectiveness of the controller on turning motion are discussed based on experimental results. The results illustrate that the ROUGHIE is capable of achieving tight turns with a radius of 2.4 meters in less than 3 meters of water, or one order of magnitude improvement on existing internally actuated platforms. The developed roll mechanism is not specific to underwater gliders and is applicable to all AUVs, especially at lower speeds and in shallower water when external rudder is less effective in maneuvering the vehicle.

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Section: Kinematicsmentioning

confidence: 99%

Section: Kinematicsmentioning

confidence: 99%

Section: Kinematicsmentioning

confidence: 99%

Section: Kinematicsmentioning

confidence: 99%

“…A series of numerical and analytical studies on UG maneuverability investigate steady turn solutions using stability and performance analysis [8,12,22,23].…”

Section: Introductionmentioning

confidence: 99%

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