Longitudinal, Near-Surface Maneuvering of a Prolate Spheroid

摘要

A motion model for a prolate spheroid moving beneath a calm free surface is used to develop a gain-scheduled controller for longitudinal, near-surface maneuvering. The motion model that is used for control design is the impulsive (memory-free) component of a Lagrangian mechanical system model that was recently developed for submerged vessels maneuvering near a free surface. A simple representation of memory effects is included as a perturbation to examine the effectiveness of the feedback controller designed using the simpler model.