Adaptive control for hybrid underwater gliders

This paper was developed by the Department of Automatic Control, CINVESTAV in collaboration with the Center for engineering and Industrial Development CIDESI, Querétaro. This document involves the design and construction of a hybrid underwater Glider. The control objective is to follow a trajectory that is currently implemented by commercial gliders. The dynamic model is used to propose a control strategy based on functions of energy. The used control strategy used is an adaptive control, known as the algorithm of Slotine-Li in its Adaptive version and for the stability proof a candidate Lyapunov function was used. Finally it should be mentioned that we have results on simulation and real-time experiments. In addition the Gliders model is expressed in a matrix form.