IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Depth Control of Underwater Glider by Lyapunov's Direct Method

리야푸노프 직접법에 의한 수중 글라이더의 깊이 제어

  • Received : 2017.03.04
  • Accepted : 2017.03.21
  • Published : 2017.04.30
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Abstract

To control the depth of an underwater glider, a control method by using Lyapunov's direct method is proposed. The underwater glider has a torpedo-shape hull, a movable mass in the hull, and an inflatable buoyancy bag in the hull, but doesn't have large wings that increase the lift force for the conventional underwater glider. The control laws to adjust the position of the movable mass and the mass of the inflatable buoyancy bag are derived. For a selected speed and an angle of attack, we simulated the operation of the underwater glider using Matlab/Simulink. The efficiency of the proposed controller is shown in the fact that the control effort is active during only a short period of time when the zigzag trajectory is changed from downward to upward or vice versa.

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References

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