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Indian Journal of Geo-Marine Sciences (IJMS) >
IJMS Vol.40 [2011] >
IJMS Vol.40(2) [April 2011] >
| Title: | Depth and pitch control of USM underwater glider: performance comparison PID vs. LQR |
| Authors: | Noh, Maziyah Mat
Arshad, Mohd Rizal
Mokhtar, Rosmiwati Mohd |
| Keywords: | Underwater Glider
Model Order Reduction
System Identification
PID
LQR |
| Issue Date: | Apr-2011 |
| Publisher: | NISCAIR-CSIR, India |
| Abstract: | Present
study consists the design of an optimal state feedback controller for our USM
Underwater Glider (USM-Glider). The glider mathematical model for motion
control is obtained using MATLAB System Identification Toolbox, where ballast
pumping rate is an input signal to the system. Different parameters were observed
independently, the pitching angle, and the depth. Two different models were
obtained for the respective observations that relates ballast pumping rate to
pitching angle and depth. From the transfer obtained, we apply a Linear
Quadratic Regulator (LQR) and PID control schemes to observe the performance of
the controllers over the pitching angle, and the depth. The optimal
performances are obtained via tuning of Qs and Rs matrices of the LQR and gain
of Kp, Ki and Kd of the PID controller. The
results show both controllers provide satisfactory performance. |
| Page(s): | 200-206 |
| CC License: |  CC Attribution-Noncommercial-No Derivative Works 2.5 India |
| ISSN: | 0975-1033 (Online); 0379-5136 (Print) |
| Source: | IJMS Vol.40(2) [April 2011]
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