eCite Digital Repository

Dynamics of underwater gliders in currents


Fan, S and Woolsey, CA, Dynamics of underwater gliders in currents, Ocean Engineering: An International Journal of Research and Developmento, 84 pp. 249-258. ISSN 0029-8018 (2014) [Refereed Article]

Copyright Statement

Copyright 2014 Elsevier Ltd. All rights reserved.

Official URL:

DOI: doi:10.1016/j.oceaneng.2014.03.024


Although underwater vehicles often operate in time-varying, nonuniform currents, the effect of flow gradients on vehicle dynamics is typically ignored in motion models used for control and estimation. Forces and moments due to a nonuniform flow field are strongest when apparent mass effects are important and flight paths are most sensitive to these disturbances when flow-relative velocities are small precisely the situation for underwater gliders. This paper presents a nonlinear multi-body dynamic model for an underwater glider operating in an unsteady, nonuniform flow. The eight degree of freedom model incorporates a cylindrically actuated moving mass, a common glider actuation scheme. To illustrate the utility of this full dynamic model, numerical motion predictions are compared with those of simpler models for a variety of nonuniform flow fields. We also demonstrate the use of the full dynamic model for flow estimation using parameter adaptive filtering.

Item Details

Item Type:Refereed Article
Keywords:underwater gliders, multi-body dynamics, nonuniform currents, flow gradient estimation
Research Division:Engineering
Research Group:Control engineering, mechatronics and robotics
Research Field:Field robotics
Objective Division:Defence
Objective Group:Defence
Objective Field:National security
UTAS Author:Fan, S (Dr Shuangshuang Fan)
ID Code:125979
Year Published:2014
Web of Science® Times Cited:60
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2018-05-17
Last Modified:2018-10-12

Repository Staff Only: item control page