Dynamics analysis of underwater glider based on fluid-multibody coupling model

Wang, Haibo; Chen, Junsi; Feng, Zhanxia; Li, Yuze; Deng, Chao; Chang, Zongyu

doi:10.1016/j.oceaneng.2023.114330

Cited by 5 publications

(2 citation statements)

References 27 publications

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“…Le and Hong [33] used computational fluid dynamics (CFD) methods to acquire the hydrodynamic characteristics of a torpedo-shaped underwater glider, demonstrating the practicality of CFD methods in glider design. To reflect the underwater glider motion more realistically, Wang et al [34] proposed a fluid-multibody coupled analysis method considering the interactions between multibody dynamics and fluid dynamics, enabling a complex dynamic analysis of the underwater glider.…”

Section: Introductionmentioning

confidence: 99%

Development of a Mobile Buoy with Controllable Wings: Design, Dynamics Analysis and Experiments

Wang,

Chen,

Feng

et al. 2024

JMSE

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Marine monitoring equipment such as Argo profiling buoys and underwater gliders are important devices for oceanographic research and marine resource exploration. In this study, a novel mobile buoy capable of vertical profiling motion like Argo profiling buoys and sawtooth gliding motion like underwater gliders is proposed. The proposed mobile buoy can switch between the two motion modes with controllable wings. To verify the feasibility of the proposed mobile buoy, a fluid–multibody coupling model considering multibody dynamics and hydrodynamics was developed to investigate the dynamic response. A scaled-down buoy prototype was fabricated and the feasibility of the two motion modes was experimentally investigated in a laboratory tank. The experimental results agree well with the results of numerical simulation. This work can be helpful for the design and analysis of this kind of mobile buoy.

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Section: Introductionmentioning

confidence: 99%

Development of a Mobile Buoy with Controllable Wings: Design, Dynamics Analysis and Experiments

Wang,

Chen,

Feng

et al. 2024

JMSE

Self Cite

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“…Meanwhile, in [ 40 ], a railway vehicle is simulated by the implementation of the previous mentioned commercial software. Finally, in [ 41 , 42 ], the researchers explained other multibody analyses for different kinds of mechanisms or vehicles.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot

Cardona

Serrano

2023

Sensors

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This paper presents the design and synthesis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First, the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasible representation of this kind of robot. Then, two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control; this means that considering that the velocity vector of the mobile robot is orthogonal to its restriction, a dynamic output feedback and neural network controller is designed so that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then, another control strategy is designed for trajectory-tracking purposes, in which similar to the driftless controller, a kinematic control scheme is provided that is suitable to implement in more sophisticated hardware. In both control strategies, a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory, the stability and convergence to the origin of the mobile robot position coordinates are ensured. Finally, two numerical experiments are presented in order to validate the theoretical results synthesized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.

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USRV: hydrodynamic analysis and design of a novel anti-flow underwater search and rescue vehicle with circuit control and perception system

Huang,

Wang,

Huang

et al. 2024

Journal of Marine Engineering & Technology

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Dynamics analysis of underwater glider based on fluid-multibody coupling model

Cited by 5 publications

References 27 publications

Development of a Mobile Buoy with Controllable Wings: Design, Dynamics Analysis and Experiments

Development of a Mobile Buoy with Controllable Wings: Design, Dynamics Analysis and Experiments

Dynamic Output Feedback and Neural Network Control of a Non-Holonomic Mobile Robot

USRV: hydrodynamic analysis and design of a novel anti-flow underwater search and rescue vehicle with circuit control and perception system

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