Modelling and control of an underwater glider
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Abstract
Generally, underwater gliders are used for various underwater explorations. Their advantages are low energy consumption and long-range application. This paper describes a modelling and control design of an underwater glider. The nonlinear dynamic model is complexed, thus the simplified mathematical model of an underwater glider is obtained. System identification of the vehicle is investigated. The work presents the depth and pitch angle control design using PID and LQR controllers. The computer simulation and experiment results are compared for the performance of the proposed control schemes.
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This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.
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