publication . External research report . 2007

Dynamics and Control of Underwater Gliders I: Steady Motions

Mahmoudian, N.; Geisbert, J.; Woolsey, C.;
Open Access English
  • Published: 01 Jan 2007
  • Publisher: Virginia Center for Autonomous Systems
  • Country: United States
Abstract
This paper describes analysis of steady motions for underwater gliders, a type of highly efficient underwater vehicle which uses gravity for propulsion. Underwater gliders are winged underwater vehicles which locomote by modulating their buoyancy and their attitude. Several such vehicles have been developed and have proven their worth as efficient long-distance, long-duration ocean sampling platforms. To date, the primary emphasis in underwater glider development has been on locomotive efficiency; maneuverability has been a secondary concern. The ultimate aim of our research is to develop optimal motion control strategies which enhance the natural locomotive eff...
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free text keywords: Underwater gliders, Regular perturbation theory, Autonomous systems
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External research report . 2007
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