A controller comprising tail wing control of a hybrid autonomous underwater vehicle for use as an underwater glider
A controller for an underwater glider is presented. Considered underwater glider is a torpedo-shaped autonomous underwater vehicle installing adjustable buoyancy bag and movable battery in it. The controller is composed of an LQR controller to maintain zigzag vertical movement for gliding and two PD...
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| Format: | Article |
| Language: | English |
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Elsevier
2019-07-01
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| Series: | International Journal of Naval Architecture and Ocean Engineering |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2092678218302735 |