文章基本信息

标题：Measurements of Hydrodynamic Parameters and control of an underwater torpedo-shaped vehicle
本地全文：下载
作者：Francisco J. Velasco ; Elías Revestido Herrero ; Francisco J. Lastra Santos 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：2
页码：167-172
DOI：10.1016/j.ifacol.2015.06.027
语种：English
出版社：Elsevier
摘要：AbstractIn the present article, based on a specific set of trials carried out in the CEHIPAR model basin, a parameter estimation of a torpedo-shaped underwater vehicle is performed. A complete modelling of the underwater vehicle is performed considering the dynamics of the vehicle and its actuators with data acquired in the model basin. Furthermore, it is proposed a modification of the conventional LOS method that works properly in presence of ocean currents. The modified LOS is applied to the torpedo-shaped model previously obtained and tested under realistic conditions.
关键词：KeywordsPMMparameter estimationLOSpath followingocean currents