论文信息 - Underwater Glider Model Parameter IdentiÞcation

Underwater Glider Model Parameter IdentiÞcation

An underwater glider is a buoyancy-propelled, Þxedwing vehicle with attitude controlled completely, or in part, by means of internal mass redistribution. We have developed a physics-based nonlinear model of the dynamics of an underwater glider and adapted it to model the SLOCUM glider’s geometry, rudder, ballast pump and internal movable mass. In this paper we identify the model parameters to match the steady glides in new sight test data from the SLOCUM glider. In the process we also estimate the

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