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http://dx.doi.org/10.5574/KSOE.2014.28.6.546

Stabilization of Underwater Glider by Buoyancy and Moment Control: Feedback Linearization Approach  

Jee, Sung Chul (Korea Institute of Robot and Convergence)
Lee, Ho Jae (Department of Electronic Engineering Inha University)
Kim, Moon Hwan (Maritime R&D Lab, LIG Nex1 Co. Ltd.)
Moon, Ji Hyun (Department of Electronic Engineering Inha University)
Publication Information
Journal of Ocean Engineering and Technology / v.28, no.6, 2014 , pp. 546-551 More about this Journal
Abstract
This paper addresses a feedback linearization control problem for the nonlinear dynamics of an underwater glider system. We consider the buoyancy and moment as control inputs, which come from the mass variation and elevator control, respectively. Moment-to-force coupling increases the nonlinearities, which make the controller design difficult. By using a feedback linearization technique, we convert the nonlinear underwater glider to an equivalent linear model and design a linear controller. The controller for the equivalent converted linear system is designed using sufficient conditions in terms of linear matrix inequalities. Then, the control input of the nonlinear model of an underwater glider is formulated from the linear control input. An experimental examination is implemented to verify the effectiveness of the proposed technique.
Keywords
Nonlinear dynamics; Underwater glider; Feedback linearization; Moment-to-force coupling; Buoyancy; Moment;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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