文章基本信息

标题：Longitudinal, Near-Surface Maneuvering of a Prolate Spheroid
本地全文：下载
作者：Ying-Chun Chen ; Seyong Jung ; Craig Woolsey 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：21
页码：248-253
DOI：10.1016/j.ifacol.2019.12.315
语种：English
出版社：Elsevier
摘要：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.
关键词：KeywordsUnderwater vehiclenear-surface maneuveringcontrolhydrodynamics