Analytical Solution of Time-Optimal Trajectory for Heaving Dynamics of Hybrid Underwater Gliders
Mai The Vu,
Seong Han Kim,
Van P. Nguyen
et al.
Abstract:Underwater vehicles have capacity limits for control inputs, within which their time-optimal trajectories (TOTs) can be formulated. In this study, the fastest trajectory for the depth control of a hybrid underwater glider (HUG) was found using buoyancy engines and propellers individually, and the decoupled heave dynamics of the HUG were defined using quadratic hydrodynamic damping. Because buoyancy engines always run at slow speeds, the buoyancy force was formulated based on the constant force rate of the engi… Show more
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