This paper presents a method for estimating the spectra of water wave disturbances onfive of the six axes of a stationary, slender body underwater vehicle in an inertia dominated waveforce regime, both in head seas and in beam seas. Inertia dominated wave forces are typical ofthose encountered by a 21 inch diameter, torpedo shaped underwater vehicle operating in coastalwaters and sea state

01_MIT_Attitude Control of an Underwater Vehicle Subjected to Waves.pdf

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