The dynamic analysis of a torpedo-shaped underwater vehicle as an object with superimposed nonholonomic constraints treated as control laws
AbstractThe paper presents the process of modeling and investigation of dynamic properties of automatically controlled underwater vehicle as an object with superimposed nonholonomic constraints. Based on torpedoes, a universal mathematical model of a robotic underwater vehicle comprising coupling dynamics of a controlled object with superimposed guidance has been built. This model is now being used to make numerical simulation program, that illustrates the behaviour of the object during guidance. A review on motion of the underwater vehicle considered in the inertial system associated with mother-ship.
|Journal series||Solid State Phenomena, ISSN 1012-0394, e-ISSN 1662-9779|
|Publication size in sheets||0.5|
|Conference||Mechatronics Systems, Mechanics and Materials, 09-10-2013 - 10-10-2013, Jastrzębia Góra, Polska|
|Keywords in English||underwater vehicle, nonholonomic constraints, dynamic analysis, numerical simulations|
|ASJC Classification||; ;|
|Score|| = 0.0, 01-01-2020, ArticleFromJournal|
= 5.0, 01-01-2020, ArticleFromJournal
|Publication indicators||= 0; : 2013 = 0.56|
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