Motion Control of Autonomous Underwater Glider Based on ISMC

Zhang, Lichuan; Tao, Xiuye; Zhang, Ru

doi:10.1109/oceans.2018.8604882

Cited by 1 publication

(1 citation statement)

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“…At the same time, the attitude adjustment mechanism also works to make it reach the attitude angle required for upward glide. During the gliding process [23,24], the underwater glider adjusts its attitude in real time through the attitude adjustment mechanism and carries out stable gliding movement according to the set gliding angle and heading angle. If the glider needs to turn, the position of the center of gravity of the platform can be changed by the attitude adjustment mechanism, and the course angle can be deflected by the roll torque and hydrodynamic torque.…”

Section: Underwater Glider Model Buildingmentioning

confidence: 99%

Research on Anti-Interference Nonlinear Adaptive Control Method for Autonomous Underwater Gliders

Zhang

Tian

et al. 2021

Mathematical Problems in Engineering

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In this paper, the characteristics of underactuation are analyzed according to the working principle of underwater glider, a complete 6DOF model of underwater glider is established, and the error equation of 3D path tracking is given. Based on the line-of-sight navigation method in three-dimensional space, the nonlinear adaptive control strategy is designed, and the roll angle control law, pitch angle control law, and depth control law of underwater glider are given. The tracking error of underwater glider is proved to be convergent by Lyapunov stability theorem. Finally, the results of marine experiments verify that the nonlinear controller designed in this paper can overcome the influence of constant current disturbance under certain conditions and has good robustness and good tracking effect under different ocean current sizes and course angles. Of course, one control method cannot be applicable to all sea conditions. When the angle between the size and direction of the ocean current exceeds a certain value, the tracking control of the underwater glider will show obvious divergence. Therefore, the stability range against the interference of the sea current is given in this paper.

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Section: Underwater Glider Model Buildingmentioning

confidence: 99%