✦ LIBER ✦

Dynamics and control of towed underwater vehicle system, part II: model validation and turn maneuver optimization

✍ Scribed by C Lambert; M Nahon; B Buckham; M Seto

Publisher: Elsevier Science
Year: 2003
Tongue: English
Weight: 283 KB
Volume: 30
Category: Article
ISSN: 0029-8018
DOI: 10.1016/s0029-8018(02)00030-6

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✦ Synopsis

This paper presents a validation of a three-dimensional dynamics model of a towed underwater vehicle system and discusses an application of the model to improve the performance of the system during a turn maneuver. The model was validated by comparing its results to experimental sea trial data, as well as to results from another independently developed simulation. The dynamics model was then imbedded in an optimization routine. This routine was used to vary turn radii in order to improve the U-turn performance. Significant improvements were obtained relative to a standard semicircular turn geometry.

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