Abstract
Present study consists a mathematical model and motion control analysis for a buoyancy-driven underwater glider with presences of water currents. Model of the glider is designed based on Newton-Euler method, and estimated the hydrodynamics effects based on Slender-body theory. Glider's motion has been controlled by three desired control inputs: two forces of a sliding mass, and a ballast mass rate of a ballast pump. In order to obtain better control performance, we have compared the performance of the Linear Quadratic Regulator (LQR) and state feedback controller as a motion controller. Simulation results show that the model is controllable and stable, and the LQR produced better control performance than the state feedback.
| Original language | English |
|---|---|
| Pages (from-to) | 516-526 |
| Number of pages | 11 |
| Journal | Indian Journal of Marine Sciences |
| Volume | 41 |
| Issue number | 6 |
| Publication status | Published - Feb 2012 |
| Externally published | Yes |
Keywords
- Dynamic model
- LQR
- Motion control
- Underwater glider