Robust Adaptive Depth Control of Hybrid Underwater Glider in Vertical Plane
Hybrid underwater glider (HUG) is an advanced autonomous underwater vehicle with propellers capable of sustainable operations for many months. Under the underwater disturbances and parameter uncertainties, it is difficult that the HUG coordinates with the desired depth in a robust manner. In this study, a robust adaptive control algorithm for the HUG is proposed. In the descend and ascend periods, the pitch control is designed using backstepping technique and direct adaptive control. When the vehicle approaches the target depth, the surge speed control using adaptive control combined with the pitch control is used to keep the vehicle at the desired depth with a constant cruising speed in the presence of the disturbances. The stability of the proposed controller is verified by using the Lyapunov theorem. Finally, the computer simulation using the numerical method is conducted to show the effectiveness of the proposed controller for a hybrid underwater glider system.
M. G. Joo and Z. Qu, “An autonomous underwater vehicle as an underwater glider and its depth control,” International Journal of Control, Automation and Systems, vol. 13, no. 5, pp. 1212-1220, July 2015.
I. Abraham and J. Yi, “Model predictive control of buoyancy propelled autonomous underwater glider,” Proc. of the American Control Conference, July 2015, pp. 1181-1186.
S. K. Jeong, H. S. Choi, J. H. Bae, S. S. You, H. S. Kang, S. J. Lee, et al., “Design and control of high speed unmanned underwater glider,” International Journal of Precision Engineering and Manufacturing-Green Technology, vol. 3, no. 3, pp. 273-279, July 2016.
B. Claus and R. Bachmayer, “Energy optimal depth control for long range underwater vehicles with applications to a hybrid underwater glider,” Autonomous Robots, vol. 40, no. 7, pp. 1307-1320, February 2016.
M. Mat-Noh, M. R. Arshad, and R. Mohd-Mokhtar, “Nonlinear control of autonomous underwater glider based on super-twisting sliding mode control (STSMC),” 7th IEEE International Conference on System Engineering and Technology, October 2017, pp. 71-76.
R. D. S. Tchilian, E. Rafikova, S. A. Gafurov, and M. Rafikov, “Optimal control of an underwater glider vehicle,” Procedia Engineering, vol. 176, pp. 732-740, 2017.
Y. Liu, J. Ma, N. Ma, and G. Zhang, “Path planning for underwater glider under control constraint,” Advances in Mechanical Engineering, vol. 9, no. 8, pp. 1-9, August 2017.
Z. Huang, H. Zheng, S. Wang, Y. Liu, J. Ma, and Y. Liu, “A self-searching optimal ADRC for the pitch angle control of an underwater thermal glider in the vertical plane motion,” Ocean Engineering, vol. 159, pp. 98-111, July 2018.
Z. Q. Su, M. Zhou, F. F. Han, Y. W. Zhu, D. L. Song, and T. T. Guo, “Attitude control of underwater glider combined reinforcement learning with active disturbance rejection control,” Journal of Marine Science and Technology, vol. 24, no. 3, pp. 686-704, 2019.
H. Sang, Y. Zhou, X. Sun, and S. Yang, “Heading tracking control with an adaptive hybrid control for under actuated underwater glider,” ISA Transactions, vol. 80, no. 10, pp. 554-563, July 2018.
D. Song, T. Guo, W. Sun, Q. Jiang, and H. Yang, “Using an active disturbance rejection decoupling control algorithm to improve operational performance for underwater glider applications,” Journal of Coastal Research, vol. 34, no. 3, p. 724, May 2018.
M. G. Joo, “A controller comprising tail wing control of a hybrid autonomous underwater vehicle for use as an underwater glider,” International Journal of Naval Architecture and Ocean Engineering, vol. 11, no. 2, pp. 865-874, July 2019.
S. K. Jeong, H. S. Choi, J. Il Kang, J. Y. Oh, S. K. Kim, and T. Q. M. Nhat, “Design and control of navigation system for hybrid underwater glider,” Journal of Intelligent and Fuzzy Systems, vol. 36, no. 2, pp. 1057-1072, March 2019.
N. D. Nguyen, H. S. Choi, and S. W. Lee, “Robust adaptive heading control for a ray-type hybrid underwater glider with propellers,” Journal of Marine Science and Engineering, vol. 7, no. 10, October 2019.
T. T. J. Prestero, “Verification of a six-degree of freedom simulation model,” PhD Thesis, Dept. Mechanical Engineering, University of California at Davis, 2001.
D. H. Ji, H. S. Cho, S. K. Jeong, J. Y. Oh, S. K. Kim, and S. S. You, “A study on heading and attitude estimation of underwater track vehicle,” Advances in Technology Innovation, vol. 4, no. 2, pp. 84-93, April 2019.
Handbook of Marine Craft Hydrodynamics and Motion Control, John Wiley & Sons, 2011.
D. Jung, S. Hong, J. Lee, H. Cho, H. Choi, and M. Vu, “A study on unmanned surface vehicle combined with remotely operated vehicle system,” Proc. of Engineering and Technology Innovation, 2018, vol. 9, no. 7, pp. 17-24, July 2018.
Copyright (c) 2020 Ngoc-Duc Nguyen, Hyeung-Sik Choi, Han-Sol Jin, Jiafeng Huang, Jae-Heon Lee
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.
Submission of a manuscript implies: that the work described has not been published before that it is not under consideration for publication elsewhere; that if and when the manuscript is accepted for publication. Authors can retain copyright in their articles with no restrictions. is accepted for publication. Authors can retain copyright of their article with no restrictions.
Since Jan. 01, 2019, AITI will publish new articles with Creative Commons Attribution Non-Commercial License, under The Creative Commons Attribution Non-Commercial 4.0 International (CC BY-NC 4.0) License.
The Creative Commons Attribution Non-Commercial (CC-BY-NC) License permits use, distribution and reproduction in any medium, provided the original work is properly cited and is not used for commercial purposes.