Deeply-towed underwater vehicle systems : a verified analytical procedure for creating parameterized dynamic models
Citable URI
https://hdl.handle.net/1912/5390Location
Caribbean SeaMediterranean Sea
DOI
10.1575/1912/5390Abstract
The dynamics of deeply-towed cable/vehicle systems are governed by nonlinear
partial differential equations and as a result, trajectory control is generally difficult using
the available techniques. This work examines the possibility of utilizing parametric
dynamic models in differential equation form, to present a far more tractable controls
problem. A learning-model method for generating accurate approximations of this type
is used, and the identification process is unique in that an analytically-based model
provides the primary data sets, allowing for a priori characterization of system responses
without using any real data. The performances of the parametric forms are then verified
through comparison of model output against actual sea data obtained during recent
cruises in the Caribbean and Mediterranean Seas. The respective merits and limitations
of several different model structures are discussed, with respect to both pure performance
and identification efficiency.
Description
Submitted in partial fulfillment of the requirements for the degree of Master of Science at the Massachusetts Institute of Technology and the Woods Hole Oceanographic Institution August 1989
Suggested Citation
Thesis: Hover, Franz S., "Deeply-towed underwater vehicle systems : a verified analytical procedure for creating parameterized dynamic models", 1989-08, DOI:10.1575/1912/5390, https://hdl.handle.net/1912/5390Related items
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