TY - GEN
T1 - Development of a hybrid-driven autonomous underwater glider with a biologically inspired motion control system
AU - Isa, Khalid
AU - Arshad, M. R.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/9/8
Y1 - 2015/9/8
N2 - This paper presents prototype development of a hybrid-driven autonomous underwater glider with a biologically inspired motion control system. The hybrid-driven glider with an independently controllable wings and a rudder was developed to overcome the drawback of a typical buoyancy-driven underwater glider in terms of speed and maneuverability. However, it is difficult to control the glider due to the high nonlinear and time-varying dynamic behavior of the glider; uncertainties in hydrodynamics coefficients; and disturbances by water currents. Thus, a robust and reliable bio-inspired controller algorithm has been designed. The controller algorithm has been designed to mimic a human innate control mechanism, which is known as homeostatic controller. The performance of the homeostatic controller of the hybrid-driven glider has been analyzed via simulation and experimental. From the simulation result, our homeostatic controller achieves better performance compared to the LQR, MPC, NN and neuroendocrine controller approaches. Furthermore, validation analysis of the homeostatic controller performance between the simulation and experimental results have shown very satisfactory performance.
AB - This paper presents prototype development of a hybrid-driven autonomous underwater glider with a biologically inspired motion control system. The hybrid-driven glider with an independently controllable wings and a rudder was developed to overcome the drawback of a typical buoyancy-driven underwater glider in terms of speed and maneuverability. However, it is difficult to control the glider due to the high nonlinear and time-varying dynamic behavior of the glider; uncertainties in hydrodynamics coefficients; and disturbances by water currents. Thus, a robust and reliable bio-inspired controller algorithm has been designed. The controller algorithm has been designed to mimic a human innate control mechanism, which is known as homeostatic controller. The performance of the homeostatic controller of the hybrid-driven glider has been analyzed via simulation and experimental. From the simulation result, our homeostatic controller achieves better performance compared to the LQR, MPC, NN and neuroendocrine controller approaches. Furthermore, validation analysis of the homeostatic controller performance between the simulation and experimental results have shown very satisfactory performance.
KW - homeostasis
KW - homeostatic controller
KW - Hybrid-driven underwater glider
KW - motion control
UR - http://www.scopus.com/inward/record.url?scp=84957688745&partnerID=8YFLogxK
U2 - 10.1109/ASCC.2015.7244833
DO - 10.1109/ASCC.2015.7244833
M3 - Conference Proceeding
AN - SCOPUS:84957688745
T3 - 2015 10th Asian Control Conference: Emerging Control Techniques for a Sustainable World, ASCC 2015
BT - 2015 10th Asian Control Conference
A2 - Selamat, Hazlina
A2 - Ramli, Hafiz Rashidi Haruna
A2 - Faudzi, Ahmad Athif Mohd
A2 - Rahman, Ribhan Zafira Abdul
A2 - Ishak, Asnor Juraiza
A2 - Soh, Azura Che
A2 - Ahmad, Siti Anom
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 10th Asian Control Conference, ASCC 2015
Y2 - 31 May 2015 through 3 June 2015
ER -