Research and development of a trajectory-position controller for an underwater glider

Abstract

In this article, development of glider control system for movement in a three-dimensional based on position-trajectory control laws is considered. To ensure control, a model of spatial motion of the glider is used, taking into account the component of the variable buoyancy. As a result of the simulation, the trajectories of the glider were obtained at points set in the horizontal plane, considering the parameters of the trajectory for movement in the vertical plane. The results obtained make it possible to evaluate the adequacy of the developed control system. The deviation of the system when the glider reaches the set point is minimal, and using the trajectory parameters in the vertical plane, it is possible to control the depth of immersion and speed. The presented results of the simulation of coating elements prove the possibility of practical use of the control system when planning glider-type AUV missions.

Development of a Structural-Functional Approach for Heterogeneous Glider-Type Marine Robotic Complexes’ Group Interaction to Solve Environmental Monitoring and Patrolling Problems

“…A steady motion model of an underwater glider with independence assumption of the glider immersion depth function in general form is presented in the expression (3) [39][40][41].…”

“…Previously, the authors considered various methods of control of an underwater glider. In the articles [43,44], the authors made several assumptions that are important when designing a real vehicle. In particular, the variable z p is used by the authors as a variable point of application of the glider's buoyancy.…”