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.