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Motion control strategy of an underwater glider in the presence of external disturbances

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Title: Motion control strategy of an underwater glider in the presence of external disturbances

Authors: Barkat Ullah, Mark Ovinis, Masri B. Baharom, Joga D. Setiawan, Syed Saad Azhar Ali, M. Y. Javaid

Journal: ARPN Journal of Engineering and Applied Sciences

HEC Recognition History
Category From To
Y 2023-07-01 2024-09-30
Y 2022-07-01 2023-06-30
Y 2021-07-01 2022-06-30
X 2020-07-01 2021-06-30

Publisher: Khyber Medical College, Peshawar

Country: Pakistan

Year: 2016

Volume: 11

Issue: 22

Language: English

Categories
Underwater Vehicles (6) Motion Control (4) Gliders (2) Disturbance Rejection (1) Robotics (1073)

Abstract

This paper describes motion control strategy of an underwater glider in the presence of external disturbances based on state feedback and full order observer feedback. In this paper, we will be concerned only with the phugoid motion in the vertical plane. A control strategy for the glider was implemented with fast and stable convergence. Simulation results show that the open loop system is controllable and observable. The results suggest the use of a well-known guidance for fast tracking and stability control.

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