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  Switching control of an underwater glider with independently controllable wings

Caiti, A., Calabrò, V., Geluardi, S., Grammatico, S., & Munafò, C. (2014). Switching control of an underwater glider with independently controllable wings. Proceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment, 228(2), 136-145. doi:10.1177/1475090213502001.

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Item Permalink: http://hdl.handle.net/11858/00-001M-0000-0027-8025-B Version Permalink: http://hdl.handle.net/21.11116/0000-0001-2A2D-F
Genre: Journal Article

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 Creators:
Caiti, A, Author
Calabrò, V, Author
Geluardi, S1, 2, Author              
Grammatico, S, Author
Munafò, C, Author
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              
2Max Planck Institute for Biological Cybernetics, Max Planck Society, Spemannstrasse 38, 72076 Tübingen, DE, ou_1497794              

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 Abstract: The dynamic, control-oriented model of an underwater glider with independently controllable wings is presented. The onboard vehicle's actuators are a ballast tank and two hydrodynamic wings. A control strategy is proposed to improve the vehicle's maneuverability. In particular, a switching control law, together with a backstepping feedback scheme, is designed to limit the energy-inefficient actions of the ballast tank and hence to enforce efficient maneuvers. The case study considered here is an underwater vehicle with hydrodynamic wings behind its main hull. This unusual structure is motivated by the recently introduced concept of the underwater wave glider, which is a vehicle capable of both surface and underwater navigation. The proposed control strategy is validated via numerical simulations, in which the simulated vehicle has to perform three-dimensional path-following maneuvers.

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 Dates: 2014-05
 Publication Status: Published in print
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 Rev. Method: -
 Identifiers: DOI: 10.1177/1475090213502001
BibTex Citekey: CaitiCGGM2014
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Title: Proceedings of the Institution of Mechanical Engineers Part M: Journal of Engineering for the Maritime Environment
Source Genre: Journal
 Creator(s):
Affiliations:
Publ. Info: -
Pages: - Volume / Issue: 228 (2) Sequence Number: - Start / End Page: 136 - 145 Identifier: -