Model-based feedback control of autonomous underwater gliders

Naomi Ehrich Leonard; Joshua G. Graver

doi:10.1109/48.972106

Model-based feedback control of autonomous underwater gliders

Naomi Ehrich Leonard, Joshua G. Graver

Research output: Contribution to journal › Article › peer-review

361 Scopus citations

Abstract

We describe the development of feedback control for autonomous underwater gliders. Feedback is introduced to make the glider motion robust to disturbances and uncertainty. Our focus is on buoyancy-propelled, fixed-wing gliders with attitude controlled by means of active internal mass redistribution. We derive a nonlinear dynamic model of a nominal glider complete with hydrodynamic forces and coupling between the vehicle and the movable internal mass. We use this model to study stability and controllability of glide paths and to derive feedback control laws. For our analysis, we restrict to motion in the vertical plane and consider linear control laws. For illustration, we apply our methodology to a model of our own laboratory-scale underwater glider.

Original language	English (US)
Pages (from-to)	633-645
Number of pages	13
Journal	IEEE Journal of Oceanic Engineering
Volume	26
Issue number	4
DOIs	https://doi.org/10.1109/48.972106
State	Published - Oct 2001

All Science Journal Classification (ASJC) codes

Ocean Engineering
Mechanical Engineering
Electrical and Electronic Engineering

Keywords

Autonomous underwater vehicles
Buoyancy control
Glider control
Glider dynamics
Movable mass
Underwater gliders

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10.1109/48.972106

Cite this

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title = "Model-based feedback control of autonomous underwater gliders",

abstract = "We describe the development of feedback control for autonomous underwater gliders. Feedback is introduced to make the glider motion robust to disturbances and uncertainty. Our focus is on buoyancy-propelled, fixed-wing gliders with attitude controlled by means of active internal mass redistribution. We derive a nonlinear dynamic model of a nominal glider complete with hydrodynamic forces and coupling between the vehicle and the movable internal mass. We use this model to study stability and controllability of glide paths and to derive feedback control laws. For our analysis, we restrict to motion in the vertical plane and consider linear control laws. For illustration, we apply our methodology to a model of our own laboratory-scale underwater glider.",

keywords = "Autonomous underwater vehicles, Buoyancy control, Glider control, Glider dynamics, Movable mass, Underwater gliders",

author = "Leonard, {Naomi Ehrich} and Graver, {Joshua G.}",

note = "Funding Information: Manuscript received October 3, 2000; revised June 8, 2001. This work was supported in part by the Office of Naval Research under Grant N00014-98-1-0649 and by the National Science Foundation under Grant BES-9502477.",

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Model-based feedback control of autonomous underwater gliders

Abstract

All Science Journal Classification (ASJC) codes

Keywords

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