Title

An Autonomous Underwater Vehicle As An Underwater Glider And Its Depth Control

Keywords

Autonomous underwater vehicle; depth control; LQR controller; underwater glider

Abstract

To provide a conventional autonomous underwater vehicle with gliding capability, we assume a moving battery and a buoyancy bag installed in a torpedo shaped autonomous underwater vehicle. We develop a mathematical model for the underwater vehicle and derive a stable gliding condition for it. Then an LQR controller is designed to control the zigzag depth of the vehicle, where the derived gliding condition is used as set-points of the control system. For control efforts in the gliding movement, the changes in the center of gravity and the net buoyancy are used, but neither thruster nor rudders are used. By using the gliding capability, the underwater vehicle can move to a farther location silently with less energy consumption and then start operating as a normal autonomous underwater vehicle. We show the feasibility of the proposed method by simulations using Matlab/Simulink.

Publication Date

10-29-2015

Publication Title

International Journal of Control, Automation and Systems

Volume

13

Issue

5

Number of Pages

1212-1220

Document Type

Article

Personal Identifier

scopus

DOI Link

https://doi.org/10.1007/s12555-014-0252-8

Socpus ID

84942456251 (Scopus)

Source API URL

https://api.elsevier.com/content/abstract/scopus_id/84942456251

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