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Title: Buoyancy-driven underwater glider modelling and analysis of motion control
Authors: Isa, Khalid
Arshad, M. R.
Keywords: Underwater glider;Dynamic model;Motion control;LQR
Issue Date: Dec-2012
Publisher: NISCAIR-CSIR, India
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.
Page(s): 516-526
ISSN: 0975-1033 (Online); 0379-5136 (Print)
Appears in Collections:IJMS Vol.41(6) [December 2012]

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