Modeling, Simulation, and Maneuvering Control of a Generic Submarine
Fuente:
arXiv
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| Autori principali: | , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2023
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| _version_ | 1866909076206649344 |
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| author | MacLin, Gage Hammond, Maxwell Cichella, Venanzio Martin, J. Ezequiel |
| author_facet | MacLin, Gage Hammond, Maxwell Cichella, Venanzio Martin, J. Ezequiel |
| contents | This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-loop trajectory tracking algorithm are presented. Both outer-loop algorithms provide reference commands that enable the generic submarine to adhere to a three-dimensional path, and both use an inner-loop adaptive controller to determine the required actuation commands. Further, a reduced order model of a generic submarine is presented. Computational fluid dynamics (CFD) results are used to create and validate a model that includes depth dependence and the effect of waves on the craft. %The model and the procedure to obtain its coefficients are discussed, and examples of the data used to obtain the model coefficients are presented. An example of operation following a complex path is presented and Results from the reduced order model for each control strategy are compared. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_09434 |
| institution | arXiv |
| publishDate | 2023 |
| record_format | arxiv |
| spellingShingle | Modeling, Simulation, and Maneuvering Control of a Generic Submarine MacLin, Gage Hammond, Maxwell Cichella, Venanzio Martin, J. Ezequiel Systems and Control This work introduces two multi-level control strategies to address the problem of guidance and control of underwater vehicles. An outer-loop path-following algorithm and an outer-loop trajectory tracking algorithm are presented. Both outer-loop algorithms provide reference commands that enable the generic submarine to adhere to a three-dimensional path, and both use an inner-loop adaptive controller to determine the required actuation commands. Further, a reduced order model of a generic submarine is presented. Computational fluid dynamics (CFD) results are used to create and validate a model that includes depth dependence and the effect of waves on the craft. %The model and the procedure to obtain its coefficients are discussed, and examples of the data used to obtain the model coefficients are presented. An example of operation following a complex path is presented and Results from the reduced order model for each control strategy are compared. |
| title | Modeling, Simulation, and Maneuvering Control of a Generic Submarine |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2401.09434 |