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Heading control method and experiments for an unmanned wave glider

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Abstract

The control system designing of unmanned wave glider (UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. The control system for the “Ocean Rambler” UWG is studied in this work. A heading control method based on S-surface controller is designed. For the “rudder zero drift” problem in trials, an improved S-surface control method based on rudder angle compensation is proposed, which can compensate the adverse effects from environmental forces and installation error. The tank test and sea trial results prove that the proposed control method has favorable control performance, and the feasibility and reliability of the designed control system are also verified.

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Authors and Affiliations

  1. Science and Technology on Underwater Vehicle Laboratory, Harbin Engineering University, Harbin, 150001, China

    Yu-lei Liao  (廖煜雷), Yi-ming Li  (李一鸣), Lei-feng Wang  (王磊峰), Ye Li  (李晔) & Quan-quan Jiang  (姜权权)

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  1. Yu-lei Liao  (廖煜雷)
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  2. Yi-ming Li  (李一鸣)
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  3. Lei-feng Wang  (王磊峰)
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  4. Ye Li  (李晔)
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  5. Quan-quan Jiang  (姜权权)
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Corresponding author

Correspondence to Yu-lei Liao  (廖煜雷).

Additional information

Foundation item: Project(51409061) supported by the National Natural Science Foundation of China; Project(QC2016062) supported by the Natural Science Foundation of Heilongjiang Province of China; Project(2013M540271) supported by the China Postdoctoral Science Foundation; Project(LBH-Z13055) supported by Heilongjiang Postdoctoral Financial Assistance, China

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Liao, Yl., Li, Ym., Wang, Lf. et al. Heading control method and experiments for an unmanned wave glider. J. Cent. South Univ. 24, 2504–2512 (2017). https://doi.org/10.1007/s11771-017-3663-x

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  • DOI: https://doi.org/10.1007/s11771-017-3663-x

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