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Modeling and motion control of a hybrid-driven underwater glider

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Title Modeling and motion control of a hybrid-driven underwater glider
 
Creator Isa, Khalid
Arshad, M. R.
 
Subject Underwater glider
Modeling
Motion control
LQR
 
Description 971-979
Present study consists a mathematical model and
motion control analysis for a hybrid-driven underwater glider, which can be propelled
by using buoyancy and propeller with an addition of wings and a rudder that can
be controlled independently. Thus, it can overcome the constraints of speed and
maneuverability that was normally possessed by the fixed-winged buoyancy-driven
underwater glider. Mathematical model of the glider is based on the
Newton-Euler approach, and the hydrodynamics of the glider are estimated based
on the Slender-body theory. Glider is controlled by six control inputs: the
deflection angle of the right and left wing, the angle of a rudder, two net
forces of a sliding mass and the pumping rate of a ballast pump. A Linear
Quadratic Regulator (LQR) controller is used to obtain better control performance
over the glider motion. Results show
that the glider is stable, and the controller performance is satisfactory.
 
Date 2014-01-10T11:47:28Z
2014-01-10T11:47:28Z
2013-12
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://hdl.handle.net/123456789/25466
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.42(8) [December 2013]