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Buoyancy-driven underwater glider modelling and analysis of motion control

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Title Buoyancy-driven underwater glider modelling and analysis of motion control
 
Creator Isa, Khalid
Arshad, M. R.
 
Subject Underwater glider
Dynamic model
Motion control
LQR
 
Description 516-526
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.
 
Date 2012-11-30T04:11:39Z
2012-11-30T04:11:39Z
2012-12
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/15146
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.41(6) [December 2012]