Pitching Angle Control Method of Underwater Glider Based on Motion Compensation

摘要

According to the problem that pitching angle control of underwater glider is strongly influenced by wave and current, so we use the phase-lead compensator as a guide which can achieve the optimal control effect. This study aims to find one of the most suitable control methods for underwater glider to improve the effect of movement. Experiment shows that control system have obviously improved in terms of the control speed and stability after using the compensator. The proposed control method can be well adapted to the rough sea under the environment of underwater glider offshore and deep-sea test. At the same time, it can also provide basis for underwater glider long-range operations.