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Modelling and control of an underwater glider

Modelling and control of an underwater glider
Modelling and control of an underwater glider
Generally, underwater gliders are used for various underwater explorations. Their advantages are low energy consumption and long-range application. This paper describes a modelling and control design of an underwater glider. The nonlinear dynamic model is complexed, thus the simplified mathematical model of an underwater glider is obtained. System identification of the vehicle is investigated. The work presents the depth and pitch angle control design using PID and LQR controllers. The computer simulation and experiment results are compared for the performance of the proposed control schemes
2229-2152
1
Jantapremjit, Pakpong
a77ee0fd-920d-4d2a-a474-61cba53c63b7
Daengchart, K
0ecd3d18-edea-4ac9-a590-d06847e68e38
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00
Jantapremjit, Pakpong
a77ee0fd-920d-4d2a-a474-61cba53c63b7
Daengchart, K
0ecd3d18-edea-4ac9-a590-d06847e68e38
Wilson, Philip
8307fa11-5d5e-47f6-9961-9d43767afa00

Jantapremjit, Pakpong, Daengchart, K and Wilson, Philip (2020) Modelling and control of an underwater glider. Journal of Research and Applications in Mechanical Engineering, 9 (1), 1, [JRAME-21-9-003].

Record type: Article

Abstract

Generally, underwater gliders are used for various underwater explorations. Their advantages are low energy consumption and long-range application. This paper describes a modelling and control design of an underwater glider. The nonlinear dynamic model is complexed, thus the simplified mathematical model of an underwater glider is obtained. System identification of the vehicle is investigated. The work presents the depth and pitch angle control design using PID and LQR controllers. The computer simulation and experiment results are compared for the performance of the proposed control schemes

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e-pub ahead of print date: 22 December 2020
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Local EPrints ID: 449913
URI: http://eprints.soton.ac.uk/id/eprint/449913
ISSN: 2229-2152
PURE UUID: ba88832d-af7f-4bf6-94c6-e11e82577123
ORCID for Philip Wilson: ORCID iD orcid.org/0000-0002-6939-682X

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Date deposited: 25 Jun 2021 16:30
Last modified: 17 Mar 2024 02:34

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Contributors

Author: Pakpong Jantapremjit
Author: K Daengchart
Author: Philip Wilson ORCID iD

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