Buoyancy-driven underwater glider modelling and analysis of motion control

摘要

Present study consists a mathematical model and motion control analysis for a buoyancy-driven underwater glider with presences of water currents. Model of the glider is designed based on Newton-Euler method, and estimated the hydrodynamics effects based on Slender-body theory. Glider's motion has been controlled by three desired control inputs: two forces of a sliding mass, and a ballast mass rate of a ballast pump. In order to obtain better control performance, we have compared the performance of the Linear Quadratic Regulator (LQR) and state feedback controller as a motion controller. Simulation results show that the model is controllable and stable, and the LQR produced better control performance than the state feedback.