Title :
Modeling of USM underwater glider (USMUG)
Author :
Noh, Maziyah Mat ; Arshad, Mohd Rizal ; Mokhtar, Rosmiwati Mohd
Author_Institution :
USM Robot. Res. Group (URRG), Univ. Sains Malaysia, Nibong Tebal, Malaysia
Abstract :
This paper presents the mathematical model of USMUG. The longitudinal plane motion is developed here. A USMUG is considered and the general kinematic and dynamic model for longitudinal plane is derived. The USMUG is designed to be operated in shallow water applications (no more than 30 meters). It has main wings, movable rudder to produce control over heading of the USMUG, ballast and sliding (movable) mass to control the buoyancy system and the pitching or diving angle of the USMUG respectively. It was designed to have a simple cylindrical shape with nose cone shape. With the model proposed, we then will apply various control algorithms to obtain the most suitable technique for the USMUG that realizes high performance maneuverability.
Keywords :
design engineering; shapes (structures); underwater vehicles; variable structure systems; vehicle dynamics; USM underwater glider modeling; ballast; buoyancy system; cylindrical shape; diving angle; heading control; kinematic-dynamic model; longitudinal plane motion; main wings; maneuverability; movable rudder; nose cone shape; pitching angle; shallow water applications; sliding mass; Computational modeling; Dynamics; Electronic ballasts; Equations; Mathematical model; Shape; Underwater vehicles; USM Underwater Glider; dynamical model; dynamics; kinematics; longitudinal plane;
Conference_Titel :
Electrical, Control and Computer Engineering (INECCE), 2011 International Conference on
Conference_Location :
Pahang
Print_ISBN :
978-1-61284-229-5
DOI :
10.1109/INECCE.2011.5953920
