Steady three dimensional gliding motion of an underwater glider
Abstract
Underwater Gliders have found broad applications
in ocean sampling. In this paper, the nonlinear dynamic
model of the glider developed by the Shenyang Institute of
Automation, Chinese Academy of Sciences, is established. Based
on this model, we solve for the parameters that characterize
steady state spiraling motions of the glider. A set of nonlinear
equations are simplified so that a recursive algorithm can be
used to find the solutions.