Dynamics and Control of Underwater Gliding
PRINCETON UNIV NJ DEPT OF MECHANICAL AND AEROSPACE ENGINEERING
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LONG-TERM GOALS. My long-term goal is to help improve versatility of underwater gliders as platforms for ocean sampling and other applications b y contributing to the development of a methodology for designing and analyzing high-performance, cost-effective underwater glider controllers. OBJECTIVES. I am in interested in establishing a framework for studying dynamics and control of underwater gliders. I am focussing on dedicated gliding vehicles that have the ability to change mass or volume for buoyancy control and to redistribute mass for attitude control. Later on it is of in interest to consider vehicles that use glide maneuvers to complement more traditional methods of control actuation. The framework will consist of a dynamical systems model of underwater gliding vehicles together with techniques for generating and controlling glide maneuvers in the presence of uncertainty. The first objective is to develop a model that is representative of a general class of underwater gliders. Then, dynamics and stability should be studied followed by the development of control laws for stabilizing individual glide motions, e.g., straight-line or spiral glide paths. Next, it is intended to develop techniques for concatenating stabilized glide motions to perform maneuvers, follow wwaypoints and track trajectories. A further objective is to develop methodology for assigning performance measures and then to optimize vehicle control design with respect to these measures. Additionally, it is of interest to address problems in coordinating control for a network of underwater gliders.
- Submarine Engineering