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The Dynamic Analysis of a Torpedo-Shaped Underwater Vehicle as an Object with Superimposed Nonholonomic Constraints Treated as Control Laws
Abstract:
The paper presents the process of modeling and investigation of dynamic properties of automatically controlled underwater vehicle as an object with superimposed nonholonomic constraints. Based on torpedoes, a universal mathematical model of a robotic underwater vehicle comprising coupling dynamics of a controlled object with superimposed guidance has been built. This model is now being used to make numerical simulation program, that illustrates the behaviour of the object during guidance. A review on motion of the underwater vehicle considered in the inertial system associated with mother-ship.
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320-325
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Online since:
October 2013
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