DocumentCode
2689749
Title
Steady three dimensional gliding motion of an underwater glider
Author
Zhang, Shaowei ; Yu, Jiancheng ; Zhang, Aiqun ; Zhang, Fumin
Author_Institution
Shenyang Inst. of Autom., Chinese Acad. of Sci., Shenyang, China
fYear
2011
fDate
9-13 May 2011
Firstpage
2392
Lastpage
2397
Abstract
Underwater Gliders have found broad applications in ocean sampling. In this paper, the nonlinear dynamic model of the glider developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, is established. Based on this model, we solve for the parameters that characterize steady state spiraling motions of the glider. A set of nonlinear equations are simplified so that a recursive algorithm can be used to find the solutions.
Keywords
mobile robots; motion control; nonlinear dynamical systems; oceanography; underwater vehicles; nonlinear dynamic model; ocean sampling; recursive algorithm; steady state spiraling motion; steady three dimensional gliding motion; underwater glider; Angular velocity; Batteries; Equations; Force; Hydrodynamics; Mathematical model; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location
Shanghai
ISSN
1050-4729
Print_ISBN
978-1-61284-386-5
Type
conf
DOI
10.1109/ICRA.2011.5979703
Filename
5979703
Link To Document