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Nonlinear feedforward and feedback control design for autonomous underwater glider

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Abstract

Underwater gliders are highly efficient, buoyancy-driven, and winged autonomous underwater vehicles. Their dynamics are multivariable nonlinear systems with unstable internal dynamics and thus their motion control is a significant challenge. To improve the inherent efficiency and enhance the behavior of the underwater glider over a wide operating regime, a nonlinear feedforward and feedback controller was developed. The nonlinear feedforward control design is based on a new stable inversion technique which determines a causal and bounded solution for the unstable internal dynamics. The feedback control law was designed by a quadratic optimal control method. Simulation results show that the derived control system is able to deal with nonminimum phase system and successfully achieves the tracking of planned output trajectories from initial to final conditions. Furthermore, the control effort is very low, which means the glider with limited power storage has longer range and higher endurance.

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Authors and Affiliations

  1. State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai, 200240, China

    Hai Yang  (杨 海) & Jie Ma  (马 捷)

Authors
  1. Hai Yang  (杨 海)
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  2. Jie Ma  (马 捷)
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Corresponding author

Correspondence to Jie Ma  (马 捷).

Additional information

Foundation item: the National Natural Science Foundation of China (No. 50979058), and the Special Research Fund for the Doctoral Program of Higher Education (No. 20090073110012)

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Yang, H., Ma, J. Nonlinear feedforward and feedback control design for autonomous underwater glider. J. Shanghai Jiaotong Univ. (Sci.) 16, 11–16 (2011). https://doi.org/10.1007/s12204-011-1088-5

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  • DOI: https://doi.org/10.1007/s12204-011-1088-5

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