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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2011 IEEE International Conference on
Conference_Location :
Shanghai
Print_ISBN :
978-1-61284-386-5
DOI :
10.1109/ICRA.2011.5979703
