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http://dx.doi.org/10.14372/IEMEK.2019.14.1.25

Depth Control of a Hybrid Underwater Glider in Parallel with Control of Horizontal Tail Wing  

Joo, Moon Gab (Pukyong National University)
Publication Information
IEMEK Journal of Embedded Systems and Applications / v.14, no.1, 2019 , pp. 25-31 More about this Journal
Abstract
An underwater glider is a type of autonomous unmanned vehicle and it advances using a vertical zig-zag glide. For this purpose, the position of an internal battery is regulated to control its attitude, and the amount of water in a buoyancy bag is regulated to control the depth. Underwater glider is suitable for a long-distance mission for a long time, because the required energy is much smaller than the conventional autonomous unmanned vehicle using propeller propulsion system. In this paper, control of horizontal tail wing is newly added to the conventional battery position and buoyancy control. The performance of the proposed controller is shown through Matlab simulation.
Keywords
Underwater glider; unmanned underwater vehicle; Matlab;
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