Name
Abstract | ||
|---|---|---|
Underwater vehicles traveling inside a bubble or supercavity enable the reduction of drag and increase of speed; however, planing forces generated when the vehicle aft end pierces the bubble can lead to oscillatory motion and instability. In this paper, a framework for the synthesis of planing avoidance controllers is presented and the trade-off between tracking performance and planing avoidance is investigated. We propose mathematical models of the supercavity and planing forces, based on experimental data, that are used to construct a nonlinear model of the vehicle dynamics and a simplified version suitable for analysis and controller synthesis. A planing metric, based on the simplified vehicle dynamics, is used within the controller synthesis to avoid planing. Simulations of vehicle maneuvers demonstrate that including planing avoidance as a control objective, reduces planing and increases the bounds of tracking commands for which the vehicle remains stable. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/ACC.2014.6859485 | ACC |
Keywords | Field | DocType |
computational modeling,aerospace,robust control,measurement,vehicle dynamics,dynamics,mathematical models,oscillatory motion,planing,vectors | Drag,Control theory,Supercavitation,Computer science,Control theory,Control engineering,Vehicle dynamics,Mathematical model,Robust control,Nonlinear model,Underwater | Conference |
ISSN | Citations | PageRank |
0743-1619 | 0 | 0.34 |
References | Authors | |
1 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| David Escobar Sanabria | 1 | 12 | 1.39 |
| Gary J. Balas | 2 | 345 | 47.33 |
| Roger E. A. Arndt | 3 | 0 | 0.34 |