IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
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Depth Control of Underwater Glider Using Reduced Order Observer

축소 차원 관측기를 사용한 수중 글라이더의 깊이 제어

  • Received : 2017.07.18
  • Accepted : 2017.08.31
  • Published : 2017.10.31
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Abstract

A reduced order observer is developed for depth control of a hybrid underwater glider which combines the good aspects of a conventional autonomous underwater vehicle and a underwater glider. State variables include the center of gravity of the robot and the weight of the buoyancy bag, which can not be directly measured. By using the mathematical model and available information such as directional velocities, accelerations, and attitudes, we developed a Luenberger's reduced order observer to estimate the center of gravity and the buoyancy weight. By simulations using Matlab/Simulink, the efficiency of the proposed observer is shown, where a LQR controller using full state variables is adopted as a depth controller.

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References

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