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Reduced-order optimal controller design for an underwater glider

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Title Reduced-order optimal controller design for an underwater glider
 
Creator Pedram, Farahnak
Erfan, Azinpour
Hassan, Zarabadipour
 
Subject Optimal controller
Underwater glider
Steady glide path
Linear Quadratic Regulator
Controllability
Reduced-order model controller
 
Description 545-550
Present study aims to design optimal controllers based on full and reduced-order models of hybrid-driven, buoyancy-propelled underwater Glider. After establishing the glider’s mathematical model and linearizing it about the steady glide path, it is reduced to a lower order by balanced realization method. Then, optimal controllers are designed using Linear Quadratic Regulator (LQR) scheme based on original and reduced-order models to control the glider motion in vertical plane for 35° downward glide path. A satisfactory controllability and tracking is observed from the approximated model controller which confirms the advantageous characteristic of such approximation.
 
Date 2017-03-17T06:24:51Z
2017-03-17T06:24:51Z
2017-03
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://nopr.niscair.res.in/handle/123456789/40806
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.46(03) [March 2017]