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Indian Journal of Geo-Marine Sciences (IJMS) >
IJMS Vol.41 [2012] >
IJMS Vol.41(6) [December 2012] >
| 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 |
| CC License: |  CC Attribution-Noncommercial-No Derivative Works 2.5 India |
| ISSN: | 0975-1033 (Online); 0379-5136 (Print) |
| Source: | IJMS Vol.41(6) [December 2012]
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