Abstract
This paper addresses an output-feedback control problem of an underwater glider. The buoyancy and the pitching moment that are generated by the net mass variation and the elevator control, respectively, are used as control inputs. Additional forces induced by the elevator control increase nonlinearity of the plant dynamics, which make controller design difficult. By using the feedback linearization technique, we convert the concerned nonlinear dynamics to a linear time-invariant model, and based on this, design an observer-based output-feedback controller. A simulation result is shown to verify the effectiveness of the proposed technique.
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Recommended by Associate Editor Do Wan Kim under the direction of Editor Euntai Kim. This research was supported by the National Research Foundation of Korea (NRF) grant funded by the Korea government (MSIP) (No. 2014R1A2A2A01005664), by Inha University, and by the project titled “R&D Center for Underwater Construction Robotics,” funded by the Ministry of Oceans and Fisheries (MOF) and Korea Institute of Marine Science & Technology Promotion (KIMST), Korea (PJT200539).
Ji Hyun Moon received B.S. and M.S. degrees from the Department of Electronic Engineering, Inha University, Incheon, Korea, in 2012 and 2014, respectively, where he is currently pursuing a Ph.D. degree. His research interests include digital redesign, multi-agent systems, and underwater glider.
Sung Chul Jee received B.S., M.S., and Ph.D. degrees from the Department of Electronic Engineering, Inha University, Incheon, Korea, in 2009, 2011, and 2014, respectively. Now, he is a Senior Researcher of Korea Institute of Robot and Convergence. His research interests are underwater hydraulic systems, autonomous unmanned vehicles, remotely operated vehicles, and fault detection.
Ho Jae Lee received the B.S., M.S., and Ph.D. degrees from the Department of Electrical and Electronic Engineering, Yonsei University, Seoul, Korea, in 1998, 2000, and 2004, respectively. In 2005, he was a Visiting Assistant Professor with the Department of Electrical and Computer Engineering, University of Houston, Houston, TX. Since 2006, he has been with the Department of Electronic Engineering, Inha University, Incheon, Korea, where he is currently an Assistant Professor. His research interests include fuzzy control systems, hybrid dynamical systems, large-scale systems, and digital redesign.
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Moon, J.H., Jee, S.C. & Lee, H.J. Output-feedback control of underwater gliders by buoyancy and pitching moment control: Feedback linearization approach. Int. J. Control Autom. Syst. 14, 255–262 (2016). https://doi.org/10.1007/s12555-015-0047-6
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DOI: https://doi.org/10.1007/s12555-015-0047-6