Underwater Glider Dynamics and Control

Joshua G. Graver and Naomi Ehrich Leonard

Proceedings 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, NH, 2001.
We present a linear controller and observer design for autonomous underwater gliders based on a model of glider dynamics that we have derived. Our focus is on buoyancy-propelled, fixed-wing gliders with attitude controlled by means of internal mass distribution. In cases when some states cannot be directly measured, such as with oceangoing gliders, the design of an observer offers possible improvements over current glider control methods.

(14 pages pdf)
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