Stabilization and Coordination of Underwater Gliders

Pradeep Bhatta and Naomi Leonard

41st IEEE Conference on Decision and Control, 2002
An underwater glider is a buoyancy-driven, fixed-wing underwater vehicle that redistributes internal mass to control attitude. We examine the dynamics of a glider restricted to the vertical plane and derive a feedback law that stabilizes steady glide paths. The control law is physically motivated and with the appropriate choice of output can be interpreted as providing input-output feedback linearization. With this choice of output, we extend the feedback linearization approach to design control laws to coordinate the gliding motion of multiple underwater gliders.

(6 pages pdf)
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