Stabilization and coordination of underwater gliders

descriptionPublicationkeyboard_double_arrow_right Article , Conference object 27 Aug 2003Publisher:IEEEJournal:Proceedings of the 41st IEEE Conference on Decision and Control, 2002., volume 2, pages 2,081-2,086

Authors: Pradeep Bhatta; Naomi Ehrich Leonard;

doi: 10.1109/cdc.2002.1184836

Stabilization and coordination of underwater gliders

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Abstract

An underwater glider is a buoyancy-driven, fixed-wing underwater vehicle that redistributes internal mass to control attitude. We examine the dynamics of a glider restricted to the vertical plane and derive a feedback law that stabilizes steady glide paths. The control law is physically motivated and with the appropriate choice of output can be interpreted as providing input-output feedback linearization. With this choice of output, we extend the feedback linearization approach to design control laws to coordinate the gliding motion of multiple underwater gliders.

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College of New Jersey
United States

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