Trajectory Control Strategies for the Underwater Glider
The Linear-quadratic regulator for the underwater glider is designed, and the motion path of the feedback control system in ocean vertical plane is studied. First, changes of the trajectory path when the glider is in steady moving are tested in this paper. Then, according to the fact that the glider needs sharp turning, two kinds of control strategies are studied. From the contrastive analysis, we choose a better strategy for the glider. Simulation result shows that, the control strategy can improve the moving performance of the underwater glider.
underwater glider linear-quadratic regulator trajectory control strategies simulation
Yanhui Wang Hongwei Zhang Shuxin Wang
School of Mechanical Engineering Tianjin University Tianjin 300072,China
国际会议
长沙
英文
918-921
2009-04-11（万方平台首次上网日期，不代表论文的发表时间）