Abstract
Underwater gliders are highly efficient and long-ranged autonomous underwater vehicles. The typical dynamic modeling in the vertical plane is of multi-input multi-output (MIMO), which is underactuated while easily affected by the ambient environment. To resolve the problems of MIMO, the dynamic model is transformed into a single-input single-output (SISO) system with two dubious parameters, and an adaptive backstepping controller is designed and applied in this paper. A Lyapunov function has been established with the total energy of the system converged in the controller. Contrast result of simulation has demonstrated that the derived nonlinear controller has higher tracking precision and faster response than the proportional-integral-derivative (PID) control method, which indicates its excellent capability to deal with the controlling problems of underwater gliders.
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Foundation item: the Research Fund for Science and Technology Commission of Shanghai Municipality (No. 13dz1204600)
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Cao, Jl., Yao, Bh. & Lian, L. Nonlinear pitch control of an underwater glider based on adaptive backstepping approach. J. Shanghai Jiaotong Univ. (Sci.) 20, 729–734 (2015). https://doi.org/10.1007/s12204-015-1683-y
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DOI: https://doi.org/10.1007/s12204-015-1683-y