Steady three dimensional gliding motion of an underwater glider

摘要：

Underwater Gliders have found broad applications in ocean sampling. In this paper, the nonlinear dynamic model of the glider developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, is established. Based on this model, we solve for the parameters that characterize steady state spiraling motions of the glider. A set of nonlinear equations are simplified so that a recursive algorithm can be used to find the solutions.

作者: Shaowei Zhang Jiancheng Yu Aiqun Zhang Fumin Zhang

作者单位: Shenyang Institute of Automation,Chinese Academy of Sciences. Shenyang 110016,Liaoning Province,Chin of Sciences. Shenyang 110016,Liaoning Province,China Electrical and Computer Engineering,Georgia Institute of Technology,Atlanta,GA 30332

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 2392-2397

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）