Abstract
In this paper, an underwater glider (UG) has been studied and developed for observing the ocean environment. The design and control of a new underwater glider (UG) having a high horizontal speed of the maximum 2.5 (Knots) was studied. For this, the capacity of buoyancy engine which performs 2.5 (Knots) horizontal speed was designed. Also, a controllable buoyancy engine to regulate the amount of buoyancy was developed for control of the pitching angle of UG. The mass shifter carrying the battery was designed for controlling pitching and yawing motion of the UG and the control system to control them was constructed. A mathematical modeling based on six degree-of-freedom dynamics equation including the buoyancy engine and mass shifter dynamics was performed to find the optimal pitching angle of the UG for maximum speed. Using the mathematical model, a simulation representing the vertical and horizontal speed of the UG with respect to pitching angles is developed and is presented. A number of experiments was performed to verify the accuracy of the simulation and the performance of the developed UG.
This is a preview of subscription content, log in via an institution to check access.
Similar content being viewed by others
References
Stommel, H., “The Slocum Mission,” Oceanography, Vol. 2, No. 1, pp. 22–25, 1989.
Sherman, J., Davis, R. E., Owens, W. B., and Valdes, J., “The Autonomous Underwater Glider Spray,” IEEE Journal of Oceanic Engineering, Vol. 26, No. 4, pp. 437–446, 2001.
Rudnick, D. L., Davis, R. E., Eriksen, C. C., Fratantoni, D. M., and Perry, M. J., “Underwater Gliders for Ocean Research,” Marine Technology Society Journal, Vol. 38, No. 1, pp. 48–59, 2004.
Graver, J. G. and Leonard, N. E., “Underwater Glider Dynamics and Control,” 12th International Symposium on Unmanned Untethered Submersible Technology, pp. 1–14, 2001.
Bhatta, P. and Leonard, N. E., “Nonlinear Gliding Stability and Control for Vehicles with Hydrodynamic Forcing,” Automatica, Vol. 44, No. 5, pp. 1240–1250, 2008.
Isa, K. and Arshad, M. R., “Dynamic Modeling and Characteristics Estimation for USM Underwater Glider,” Proc. of the IEEE Control and System Graduate Research Colloquium, pp. 12–17, 2011.
Kan, L., Zhang, Y., Fan, H., Yang, W., and Chen, Z., “MATLABBased Simulation of Buoyancy-Driven Underwater Glider Motion,” Journal of Ocean University of China, Vol. 7, No. 1, pp. 113–118, 2008.
Mahmoudian, N. and Woolsey, C., “Underwater Glider Motion Control,” Proc. of the 47th IEEE Conference on Decision and Control, pp. 552–557, 2008.
Zhang, S., Yu, J., Zhang, A., and Zhang, F., “Spiraling Motion of Underwater Gliders: Modeling, Analysis, and Experimental Results,” Ocean Engineering Vol. 60 pp. 1–13, 2013.
Tran, N.-H., Choi, H.-S., Bae, J.-H., Oh, J.-Y., and Cho, J.-R., “Design, Control, and Implementation of a New AUV Platform with a Mass Shifter Mechanism,” Int. J. Precis. Eng. Manuf., Vol. 16, No. 7, pp. 1599–1608, 2015.
Fossen, T. I., “Guidance and Control of Ocean Vehicles,” John Wiley & Sons, pp. 5–56, 1994.
Kim, D.-H., Choi, H.-S., Kim, J.-Y., Park, J.-H., and Tran, N.-H., “Trajectory Generation and Sliding-Mode Controller Design of an Underwater Vehicle-Manipulator System,” Int. J. Precis. Eng. Manuf., Vol. 16, No.7, pp. 1561–1570, 2015.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Jeong, SK., Choi, HS., Bae, JH. et al. Design and control of high speed unmanned underwater glider. Int. J. of Precis. Eng. and Manuf.-Green Tech. 3, 273–279 (2016). https://doi.org/10.1007/s40684-016-0035-1
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s40684-016-0035-1