Stabilization and coordination of underwater gliders

Abstract

An underwater glider is a buoyancy-driven, fixedwing 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.

Model predictive control of underwater gliders based on a one-layer recurrent neural network

“…; h i; Pi > h i· (10) According to the convergence analysis in [16], it is Lyapunov stable and globally convergent to the optimal solution of any strictly convex QP problem. We employ the simplified dual network here for solving (8) repetitively. The simplified dual network has 6Nu + 14N neurons.…”

“…For example, a nonlinear dynamic model was derived and model-based linear control laws were presented in [7]; a control law was developed by choosing appropriate output variables and using input-output feedback linearization in [8]; a dynamic modelling of the complete multi-body control system and numerical implementation of y 978-1-4673-6343-3/13/$3\.00 ©2013 IEEE 328 a motion control system were described in [9]; a glider coordinated control system (GCCS) using a detailed glider model for prediction and a simple particle model for planning was developed for coordination control of underwater gliders in [10]; control of the spiraling motion of underwater gliders was studied in [II]. Due to its underactuation property and persistent disturbances from ocean environment, controlling an underwater glider is a challenging task.…”

“…The solution to the QP problem (8) gives optimal control increment vector �ii( k) whose first element �u( k) can be used to calculate the optimal control input.…”

Gyroscopic Forces and Collision Avoidance with Convex Obstacles

“…Earlier work, such as [7] introduces "vortical" forces that are reminiscent of, but not the same as, gyroscopic forces studied in the present paper. A future goal is to apply the present method to coordinated control of groups of underwater vehicles; see, for instance, [1] and references therein.…”

Controlled Hydrodynamic Interactions in Schooling Aquatic Locomotion

“…Schools of such vehicles promise, for example, a platform for reconfigurable mobile sensing applications ranging from environmental sampling to the collection of military intelligence [23]. Although energy efficiency is a primary concern in the design of mobile sensor arrays for long-term deployment, efforts to develop aquatic vehicle arrays for cooperative sensing [24], [25] have, to date, ignored the hydrodynamic coupling among vehicles as a means to conserve energy. Support for this work was provided by NSF award number CMS-0449319 Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL 61801, USA scott.and.xiong@diffeomorphism.com The effects of hydrodynamic coupling on schooling locomotion are straightforward to reproduce in the lab; indeed, our experimental system allows us to detail these effects to an extent infeasible through observations of fish schools.…”