Preprint
Modeling, Simulation, and Maneuvering Control of a Generic Submarine
arXiv.org
Cornell University
12/18/2023
DOI: 10.48550/arxiv.2401.09434
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. %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.
Details
- Title: Subtitle
- Modeling, Simulation, and Maneuvering Control of a Generic Submarine
- Creators
- Gage MacLinMaxwell HammondVenanzio CichellaJ. Ezequiel Martin
- Resource Type
- Preprint
- Publication Details
- arXiv.org
- DOI
- 10.48550/arxiv.2401.09434
- eISSN
- 2331-8422
- Publisher
- Cornell University; Ithaca, NY
- Language
- English
- Date posted
- 12/18/2023
- Academic Unit
- IIHR--Hydroscience and Engineering; Mechanical Engineering
- Record Identifier
- 9984548663002771
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