Trajectory Control Strategies for the Underwater Glider

Author

Wang, Yanhui ; Zhang, Hongwei ; Wang, Shuxin

Author_Institution

Sch. of Mech. Eng., Tianjin Univ., Tianjin, China

Volume

1

fYear

2009

fDate

11-12 April 2009

Firstpage

918

Lastpage

921

Abstract

The linear quadratic regulator for the underwater glider is designed, and the motion path of the feedback control system in ocean vertical plane is studied. First, changes of the trajectory path when the glider is in steady moving are tested in this paper. Then, according to the fact that the glider needs sharp turning, two kinds of control strategies are studied. From the contrastive analysis, we choose a better strategy for the glider. Simulation result shows that, the control strategy can improve the moving performance of the underwater glider.

Keywords

feedback; linear quadratic control; position control; remotely operated vehicles; underwater vehicles; feedback control system; linear quadratic regulator; trajectory path control strategy; underwater glider; Bladder; Control systems; Equations; Hydrodynamics; Mechanical variables measurement; Oceans; Regulators; Sea measurements; Trajectory; Turning; control strategies; linear-quadratic regulator; simulation; trajectory; underwater glider;

fLanguage

English

Publisher

ieee

Conference_Titel

Measuring Technology and Mechatronics Automation, 2009. ICMTMA '09. International Conference on

Conference_Location

Zhangjiajie, Hunan

Print_ISBN

978-0-7695-3583-8

Type

conf

DOI

10.1109/ICMTMA.2009.617

Filename

5203120