Underwater glider motion control

Mahmoudian, Nina; Woolsey, Craig A.

doi:10.1109/cdc.2008.4739432

Cited by 63 publications

(30 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…While the buoyancy engine can be used to adjust the glider's pitch without a pitch-control subassembly, the addition of a pitch-control subassembly allows a considerably higher glide ratio (less aggressive slope of travel) resulting in longer range and slower speed. Alternatively, a lower glide ratio can be achieved, for more rapid movement at the expense of range 10 .…”

Section: Fig 1 Osug Design and Prototypementioning

confidence: 99%

Design of a Low-Cost Open-Source Underwater Glider

Williams¹

2018

Preprint

View full text Add to dashboard Cite

Typical buoyancy engine-based Underwater Gliders are highly-complex and cost-prohibitive, generally ranging in price-point from $50,000 to $250,000. A low-cost, OpenSource Underwater Glider (OSUG) was thus developed as a low-cost data-collection and research tool. This glider, OSUG, is a sub-$1000, 1.2m long, 12kg, and capable of 50-hours of continuous operation. Its efficiency, and usecase feasibility were evaluated. The buoyancy engine is constructed of medical grade syringes that pull in water from the environment to simplify the system and lower costs. Direction of locomotion is controlled by altering pitch and roll via changing the center-of-mass. The system was designed to be primarily three-dimensionally (3D) printed and fully-modular to limit cost and ensure reproducibility.

show abstract

Section: Fig 1 Osug Design and Prototypementioning

confidence: 99%

Design of a Low-Cost Open-Source Underwater Glider

Williams¹

2018

Preprint

View full text Add to dashboard Cite

show abstract

“…Based on the model, we solve for the parameters that characterize steady state spiraling motion in 3D. Our goal is to characterize and control the spiraling motion, which is shared by [9] and [13]. We follow a different approach aiming to find the exact solutions.…”

Section: Introductionmentioning

confidence: 99%

“…In [9], a first attempt is made to find numerical solutions for the steady state equations that characterize the spiraling motion. In [12] and [13], an approximate analytical solution for steady spiraling motion is derived by applying perturbation theory.…”

Section: Introductionmentioning

confidence: 99%

Steady three dimensional gliding motion of an underwater glider

Zhang

et al. 2011

2011 IEEE International Conference on Robotics and Automation

View full text Add to dashboard Cite

Abstract-Underwater Gliders have found broad applications in ocean sampling. In this paper, the nonlinear dynamic model of the glider developed by the Shenyang Institute of Automation, Chinese Academy of Sciences, is established. Based on this model, we solve for the parameters that characterize steady state spiraling motions of the glider. A set of nonlinear equations are simplified so that a recursive algorithm can be used to find the solutions. , and the straight line gliding motion in the vertical plane are stabilized by feedback control. The complex dynamic model and the coupled hydrodynamic effects make it difficult to find accurate solutions for the glider model that establishes relationships between the gliding state and the control input. The problem remains unsolved for three dimensional gliding motion such as the spiraling motion. In [9], a first attempt is made to find numerical solutions for the steady state equations that characterize the spiraling motion. In [12] and [13], an approximate analytical solution for steady spiraling motion is derived by applying perturbation theory. I. INTRODUCTIONThe dynamic performance of an underwater glider is strongly affected by hydrodynamics. In [14], a thorough analysis about the hydrodynamic coefficients of a glider is performed. In [15], the drag and lift forces caused by wings of a fin-actuated underwater vehicle are studied. In [16], the hydrodynamic coefficients of autonomous underwater vehicles are verified using the computational fluid dynamics method and experiments. The effect of independently controllable wings on a glider is studied to enhance the glider maneuverability in [17].The underwater glider developed by the Shenyang Institute of Automation (SIA) in [18] is propelled by a pump and steered by a movable-rotatable battery. The heave is controlled by the pump that changes the volume of a bladder.

show abstract

“…Numerous underwater glider control systems have been proposed by previous researchers. Most existing gliders have used the PID and LQR controller to control the motion and attitude [1][2][3][4][5][6]. The sliding mode control (SMC) also has been used to control the underwater glider [7][8], but the main constraint in SMC is the chattering effect, which can degrade the performance of the system, and make the system unstable.…”

Section: Introductionmentioning

confidence: 99%

An analysis of homeostatic motion control system for a hybrid-driven underwater glider

Isa

Arshad

2013

2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

View full text Add to dashboard Cite

Abstract-This paper presents an analysis of homeostatic controller, which controls the motion of a hybrid-driven underwater glider. The homeostatic controller is inspired from a biological process known as homeostasis, which maintains a stable state in the face of massively dynamics conditions. Within a biological context, organism homeostasis is an emergent property of the interactions between nervous, endocrine and immune system. Artificially these three systems are presented as Artificial Neural Network (ANN), Artificial Endocrine System (AES) and Artificial Immune System (AIS). The ANN is designed as the controller backbone, the AES is designed as the weight tuner, and the AIS is designed as the optimizer of the control system. The design objective is to obtain better control performance of the motion control system which includes the disturbance from the water currents. We have simulated the algorithm by using Matlab TM , and the results demonstrated that the homeostatic controller reduced the cost function of the control system and produced better control performance than the neuroendocrine controller.

show abstract

Underwater glider motion control

Cited by 63 publications

References 8 publications

Design of a Low-Cost Open-Source Underwater Glider

Design of a Low-Cost Open-Source Underwater Glider

Steady three dimensional gliding motion of an underwater glider

An analysis of homeostatic motion control system for a hybrid-driven underwater glider

Contact Info

Product

Resources

About