Model-based feedback control of autonomous underwater gliders

被引：284

作者：

Leonard, NE ^{[1
]}

Graver, JG ^{[1
]}

机构：

[1] Princeton Univ, Dept Mech & Aerosp Engn, Princeton, NJ 08544 USA

来源：

IEEE JOURNAL OF OCEANIC ENGINEERING | 2001年 / 26卷 / 04期

基金：

美国国家科学基金会;

关键词：

autonomous underwater vehicles; buoyancy control; glider control; glider dynamics; movable mass; underwater gliders;

D O I：

10.1109/48.972106

中图分类号：

TU [建筑科学];

学科分类号：

0813 ;

摘要：

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.

引用

页码：633 / 645

页数：13

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