Model-Based Feedback Control of Autonomous Underwater Gliders
Naomi Ehrich Leonard and Joshua G. Graver
IEEE Journal of Oceanic Engineering,
Special Issue on Autonomous Ocean-Sampling Networks,
Vol. 26, No. 4, October 2001, 633-645.
We describe the development of feedback control for autonomous
underwater gliders. Feedback is introduced to make the glider
motion robust to disturbances and uncertainty. Our focus is on
buoyancy-propelled, fixed-wing gliders with attitude controlled by
means of active internal mass redistribution. We derive a
nonlinear dynamic model of a nominal glider complete with
hydrodynamic forces and coupling between the vehicle and the
movable internal mass. We use this model to study stability and
controllability of glide paths and to derive feedback control
laws. For our analysis we restrict to motion in the vertical
plane and consider linear control laws. For illustration, we
apply our methodology to a model of our own laboratory-scale
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