Abstract
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 language | English (US) |
|---|---|
| Pages (from-to) | 2081-2086 |
| Number of pages | 6 |
| Journal | Proceedings of the IEEE Conference on Decision and Control |
| Volume | 2 |
| State | Published - 2002 |
| Event | 41st IEEE Conference on Decision and Control - Las Vegas, NV, United States Duration: Dec 10 2002 → Dec 13 2002 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Modeling and Simulation
- Control and Optimization