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Modelling and control of an underwater glider |
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| รหัสดีโอไอ | |
| Creator | 1. P. Jantapremjit 2. K. Daengchart 3. P.A. Wilson |
| Title | Modelling and control of an underwater glider |
| Publisher | Thai Society of Mechanical Engineers (TSME) |
| Publication Year | 2564 |
| Journal Title | Journal of Research and Applications in Mechanical Engineering (JRAME) |
| Journal Vol. | 9 |
| Journal No. | 1 |
| Page no. | JRAME-21-9-003 (p.1-13) |
| Keyword | Underwaterglider, PIDcontrol, LQR control |
| URL Website | https://tci-thaijo.org/index.php/jrame/index |
| Website title | Journal of Research and Applications in Mechanical Engineering (JRAME) |
| ISSN | 2229-2152 |
| Abstract | Generally, underwater gliders are used for various underwater explorations. Their advantages are low energy consumption andlong-range application.Thispaper describesa modelling and control design of an underwater glider.The nonlinear dynamic model is complexed, thus the simplifiedmathematical model of an underwater glideris obtained. System identificationof the vehicle is investigated. The work presents the depth and pitch angle controldesignusingPIDand LQR controllers. The computer simulation and experiment results are compared forthe performance of the proposed control schemes |
