Contributions to Guidance and Control of Underwater Gliders
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Inclou dades d'ús des de 2022
Cita com:
hdl:2099.1/16948
Tutor / directorJouffroy, Jerome
Tipus de documentProjecte/Treball Final de Carrera
Data2011
Condicions d'accésAccés obert
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continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
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Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
Abstract
Autonomous underwater gliders are vehicles developed with the purpose to
drive motion by means of controlling its attitude and buoyancy, with no propeller
nor rudder.
This thesis mainly focuses on the control of glider's motion to make it reach a
desired destination in the sea, and do it by following desired paths. With this aim
both two-dimensional and three-dimensional scenarios are presented. The former
states the case when motion is restricted to the vertical plane, while the latter
includes the full motion.
First, a mathematical model of the glider is given. Then the control strategy used
is detailed and discussed, and afterwards the guidance algorithms implemented to
achieve the target point are presented. In the 2D case guidance can be accomplished
focusing on pitch control, while in the 3D case turning is also needed hence
introduced. Finally the whole system is implemented using Matlab/Simulink, and
several representative simulations are shown and used to validate the proper behaviour
of the glider.
MatèriesSubmersibles -- Hydrodynamics, Hydrodynamics -- Mathematical models, Vehicles submergibles -- Hidrodinàmica, Hidrodinàmica -- Models matemàtics
ProvinençaAquest document conté originàriament altre material i/o programari no inclòs en aquest lloc web
TitulacióENGINYERIA INDUSTRIAL (Pla 1994)
Fitxers | Descripció | Mida | Format | Visualitza |
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thesis_report.pdf | Report | 1,269Mb | Visualitza/Obre |