Title :
Trajectory Control Strategies for the Underwater Glider
Author :
Wang, Yanhui ; Zhang, Hongwei ; Wang, Shuxin
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ., Tianjin, China
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;
Conference_Titel :
Measuring Technology and Mechatronics Automation, 2009. ICMTMA '09. International Conference on
Conference_Location :
Zhangjiajie, Hunan
Print_ISBN :
978-0-7695-3583-8
DOI :
10.1109/ICMTMA.2009.617
