Internally Actuated Lateral-Directional Maneuvering for a Blended Wing- Body Underwater Glider

摘要

The principal goals of Phases I & II (the YIP Award and Supplement) were to: (1) Enhance the performance capability of streamlined AUVs by extending their operating range to include hover. (2) Develop energy-based nonlinear control design tools and demonstrate them in practical vehicle applications. (3) Develop algorithms for simple flow-field modeling and identification using data from a platoon of small AUVs. The principal goal of Phase III was to: (4) Address the lateral/directional control challenges associated with low-speed, high angle of attack flight of underwater gliders, particularly the XRay/Liberdade blended wing-body glider developed jointly by Scripps Institute of Oceanography and the University of Washington Applied Physics Lab.