Stabilization and coordination of underwater gliders

Pradeep Bhatta, Naomi Ehrich Leonard

Research output: Contribution to journalConference articlepeer-review

60 Scopus citations


An underwater glider is a buoyancy-driven, fixed-wing underwater vehicle that redistributes internal mass to control attitude. We examine the dynamics of a glider restricted to the vertical plane and derive a feedback law that stabilizes steady glide paths. The control law is physically motivated and with the appropriate choice of output can be interpreted as providing input-output feedback linearization. With this choice of output, we extend the feedback linearization approach to design control laws to coordinate the gliding motion of multiple underwater gliders.

Original languageEnglish (US)
Pages (from-to)2081-2086
Number of pages6
JournalProceedings of the IEEE Conference on Decision and Control
StatePublished - 2002
Externally publishedYes
Event41st IEEE Conference on Decision and Control - Las Vegas, NV, United States
Duration: Dec 10 2002Dec 13 2002

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization


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