Modeling and motion control of a hybrid-driven underwater glider

被引:0
作者
Isa, Khalid [1 ]
Arshad, M. R. [1 ]
机构
[1] USM, URRG, Sch Elect & Elect Engn, Nibong Tebal 14300, Pulau Pinang, Malaysia
关键词
Underwater glider; Modeling; Motion control; LQR;
D O I
暂无
中图分类号
P7 [海洋学];
学科分类号
0707 ;
摘要
Present study consists a mathematical model and motion control analysis for a hybrid-driven underwater glider, which can be propelled by using buoyancy and propeller with an addition of wings and a rudder that can be controlled independently. Thus, it can overcome the constraints of speed and maneuverability that was normally possessed by the fixed-winged buoyancy-driven underwater glider. Mathematical model of the glider is based on the Newton-Euler approach, and the hydrodynamics of the glider are estimated based on the Slender-body theory. Glider is controlled by six control inputs: the deflection angle of the right and left wing, the angle of a rudder, two net forces of a sliding mass and the pumping rate of a ballast pump, A Linear Quadratic Regulator (LQR) controller is used to obtain better control performance over the glider motion. Results show that the glider is stable, and the controller performance is satisfactory.
引用
收藏
页码:971 / 979
页数:9
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