Nonlinear control for autonomous underwater glider motion based on inverse system method |
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Authors: | Hai Yang Jie Ma |
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Institution: | (1) Department of Underwater Robotics, ACSA Underwater-GPS, 9 Europarc, 13590 Meyreuil, France |
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Abstract: | Autonomous underwater gliders are highly efficient, buoyancy-driven, winged autonomous underwater vehicles. Their dynamics
are multivariable nonlinear systems. In addition, the gliders are underactuated and difficult to maneuver, and also dependent
on their operational environment. To confront these problems and to design an effective controller, the inverse system method
was used to decouple the original system into two independent single variable linear subsystems. The stability of the zero
dynamics was analyzed, and an additional closed-loop controller for each linear subsystem was designed by sliding mode control
method to form a type of composite controller. Simulation results demonstrate that the derived nonlinear controller is able
to cope with the aforementioned problems simultaneously and satisfactorily. |
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Keywords: | |
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