Numerical simulation of the manoeuvrability of an underwater vehicle
Numerical simulation of the manoeuvrability of an underwater vehicle
A six degree of freedom (6-DOF) nonlinear mathematical model for a submarine is proposed. Then, the problem of manoeuvrability control for this vehicle is formulated as an unconstrained optimal control problem which is solved by using a gradient descent method. Simulation results presented are rooted by two requirements which are of a major importance in naval industry, and they are compared to a classical linear model.
Supported by projects MTM2007-62945 from Ministerio de Ciencia y Tecnología (Spain), 08720/PI/08 from Fundación Séneca , Agencia de Ciencia y Tecnología de la Región de Murcia (Programa de Generación de Conocimiento Científico de Excelencia, IIPCTRM 2007-10) and 21131/07MAE from Navantia S.A.
Control de maniobrabilidad, Método de descenso rasante, Gradient descent method, Control óptimo, Submarine, Manoeuvrability control, Matemática Aplicada, Submarino, Optimal control
Control de maniobrabilidad, Método de descenso rasante, Gradient descent method, Control óptimo, Submarine, Manoeuvrability control, Matemática Aplicada, Submarino, Optimal control
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