The dynamic analysis of a torpedo-shaped underwater vehicle as an object with superimposed nonholonomic constraints treated as control laws

Edyta Ładyżyńska-Kozdraś

Abstract

The 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.
Author Edyta Ładyżyńska-Kozdraś (FM / IMPh)
Edyta Ładyżyńska-Kozdraś,,
- The Institute of Micromechanics and Photonics
Journal seriesSolid State Phenomena, ISSN 1012-0394, e-ISSN 1662-9779
Issue year2013
Vol210
Pages320-325
Publication size in sheets0.5
ConferenceMechatronics Systems, Mechanics and Materials, 09-10-2013 - 10-10-2013, Jastrzębia Góra, Polska
Keywords in Englishunderwater vehicle, nonholonomic constraints, dynamic analysis, numerical simulations
ASJC Classification3104 Condensed Matter Physics; 2500 General Materials Science; 3107 Atomic and Molecular Physics, and Optics
DOIDOI:10.4028/www.scientific.net/SSP.210.320
URL www.scientifc.net/SSP.210.320
Languageen angielski
Score (nominal)5
Score sourcejournalList
ScoreMinisterial score = 0.0, 01-01-2020, ArticleFromJournal
Ministerial score (2013-2016) = 5.0, 01-01-2020, ArticleFromJournal
Publication indicators WoS Citations = 0; Scopus SNIP (Source Normalised Impact per Paper): 2013 = 0.56
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