Journal article
Modeling, simulation and maneuvering control of a generic submarine
Control engineering practice, Vol.144, 105792
03/2024
DOI: 10.1016/j.conengprac.2023.105792
Abstract
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. Results from the reduced order model for each control strategy are compared.
Details
- Title: Subtitle
- Modeling, simulation and maneuvering control of a generic submarine
- Creators
- Gage MacLinMaxwell HammondVenanzio CichellaJ. Ezequiel Martin
- Resource Type
- Journal article
- Publication Details
- Control engineering practice, Vol.144, 105792
- DOI
- 10.1016/j.conengprac.2023.105792
- ISSN
- 0967-0661
- eISSN
- 1873-6939
- Grant note
- DOI: 10.13039/100000006, name: Office of Naval Research, award: N000142112091, N000142212634
- Language
- English
- Date published
- 03/2024
- Academic Unit
- IIHR--Hydroscience and Engineering; Mechanical Engineering
- Record Identifier
- 9984539659802771
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