An Efficient Motion Control System for Underwater Gliders
This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance and control. In previous work, the authors obtained an approximate analytical expression for steady turning motion as a regular pert...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
De Gruyter
2013-12-01
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| Series: | Nonlinear Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1515/nleng-2012-0011 |
| Summary: | This paper describes an underwater glider motion
control system intended to enhance locomotive efficiency
by reducing the energy expended by vehicle guidance
and control. In previous work, the authors obtained an
approximate analytical expression for steady turning motion
as a regular perturbation from wings level flight. Using
this steady turn solution, one may easily construct feasible,
energy-efficient paths for a glider to follow. Because the
turning motion results are only approximate, however, and
to compensate for model and environmental uncertainty,
one must incorporate feedback to ensure precise path following.
This paper describes the development and numerical
implementation of a feedforward/feedback motion control
system for a multi-body underwater glider model. The
feedforward component issues actuator commands based on
the analytical solution for a desired steady flight condition
while the feedback component compensates for uncertainty
and disturbances. |
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| ISSN: | 2192-8010 2192-8029 |