Abstract
The paper addresses dynamics modeling of underwater vehicles, which are typical examples of variable mass and configuration mechanical systems. Specifically, we address inertia–based propelled vehicles, whose mass changes due to change of water amount in their water tanks and their configuration changes due to movable mass enabling maneuvers. They can be additionally subjected to constraints, which are imposed due to their desired performance, tracking pre-specified motions or are control constraints implying underactuation. The paper presents a new approach to variable mass and configuration systems modeling, which is based upon Boltzmann-Hamel equations derived in quasi-coordinates. The dynamics framework based upon quasi-coordinates results in dynamic models suitable for performance analysis and model-based control applications. It serves free or constrained variable mass and configuration systems modeling. The example researched in the paper is an underwater vehicle, which is purely inertia–based propelled. The theoretical development is illustrated with simulation studies of dynamical behavior and performance of the underwater vehicle model moving a specified trajectory.
Highlights
The paper addresses dynamics modeling of underwater vehicles (UV), which are variable mass and configuration mechanical systems
Space vehicles are of interest in this context, since their service missions like refueling or debris removal are strongly related to control of their variable mass or configuration dynamics
The paper presents a new method of variable mass and configuration systems modeling, which is based upon the Boltzmann-Hamel equations derived in quasicoordinates
Summary
The paper addresses dynamics modeling of underwater vehicles (UV), which are variable mass and configuration mechanical systems. They can be subjected to constraints, which are imposed due to their desired performance, tracking pre-specified motions or are control constraints implying underactuation. The paper presents a new approach to variable mass and configuration systems modeling, which is based upon Boltzmann-Hamel equations derived in quasicoordinates. The paper contribution is a development of dynamics modeling method based upon Boltzmann-Hamel equations derived in quasicoordinates. It serves free or constrained variable mass and configuration systems modeling. The paper closes with conclusions and a list of references
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