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An Efficient Motion Control System for Underwater Gliders

An Efficient Motion Control System for Underwater Gliders Abstract This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance and control. In previous work, the authors obtained an approximate analytical expression for steady turning motion as a regular perturbation from wings level flight. Using this steady turn solution, one may easily construct feasible, energy-efficient paths for a glider to follow. Because the turning motion results are only approximate, however, and to compensate for model and environmental uncertainty, one must incorporate feedback to ensure precise path following. This paper describes the development and numerical implementation of a feedforward/feedback motion control system for a multi-body underwater glider model. The feedforward component issues actuator commands based on the analytical solution for a desired steady flight condition while the feedback component compensates for uncertainty and disturbances. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Nonlinear Engineering de Gruyter

An Efficient Motion Control System for Underwater Gliders

Nonlinear Engineering , Volume 2 – Dec 1, 2013

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Publisher
de Gruyter
Copyright
Copyright © 2013 by the
ISSN
2192-8029
eISSN
2192-8010
DOI
10.1515/nleng-2012-0011
Publisher site
See Article on Publisher Site

Abstract

Abstract This paper describes an underwater glider motion control system intended to enhance locomotive efficiency by reducing the energy expended by vehicle guidance and control. In previous work, the authors obtained an approximate analytical expression for steady turning motion as a regular perturbation from wings level flight. Using this steady turn solution, one may easily construct feasible, energy-efficient paths for a glider to follow. Because the turning motion results are only approximate, however, and to compensate for model and environmental uncertainty, one must incorporate feedback to ensure precise path following. This paper describes the development and numerical implementation of a feedforward/feedback motion control system for a multi-body underwater glider model. The feedforward component issues actuator commands based on the analytical solution for a desired steady flight condition while the feedback component compensates for uncertainty and disturbances.

Journal

Nonlinear Engineeringde Gruyter

Published: Dec 1, 2013

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