Gliding in extreme waters: Dynamic Modeling and Nonlinear Control of an Agile Underwater Glider (2402.06055v1)
Abstract: This paper describes the modeling of a custom-made underwater glider capable of flexible maneuvers in constrained areas and proposes a control system. Due to the lack of external actuators, underwater gliders can be greatly influenced by environmental disturbance. In addition, the nonlinearity of the system affects the motions during the transition between each flight segment. Here, a data-driven parameter estimation experimental methodology is proposed to identify the nonlinear dynamics model for our underwater glider using an underwater motion capture system. Then, a nonlinear system controller is designed based on Lyapunov function to overcome environmental disturbance, potential modeling errors, and nonlinearity during flight state transitions. The capability of lowering the impact of environmental disturbance is validated in simulations. A hybrid control system applying PID controller to maintain steady state flights and the proposed controller to switch between states is also demonstrated by performing complex maneuvers in simulation. The proposed control system can be applied to gliders for reliable navigation in dynamic water areas such as fjords where the sea conditions may vary from calm to rough seasonally.
- Seaglider: a long-range autonomous underwater vehicle for oceanographic research. IEEE Journal of Oceanic Engineering, 26(4), 424–436. 10.1109/48.972073.
- Underwater glider model parameter identification.
- Hastings, W.K. (1970). Monte Carlo sampling methods using Markov chains and their applications. Biometrika, 57(1), 97–109. 10.1093/biomet/57.1.97.
- Enhancing sumo simulator for simulation based testing and validation of autonomous vehicles. In 2022 IEEE Intelligent Vehicles Symposium (IV), 829–835. 10.1109/IV51971.2022.9827241.
- Experimental verification of underwater glider maneuvering in constrained environments. In 2022 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV), 1–7. 10.1109/AUV53081.2022.9965809.
- Mahmoudian, N. (2009). Efficient Motion Planning and control for underwater gliders. Ph.D. thesis, Virginia Tech.
- Equation of State Calculations by Fast Computing Machines. The Journal of Chemical Physics, 21(6), 1087–1092. 10.1063/1.1699114.
- The autonomous underwater glider ”spray”. IEEE Journal of Oceanic Engineering, 26(4), 437–446. 10.1109/48.972076.
- Chattering problem in sliding mode control systems. In International Workshop on Variable Structure Systems, 2006. VSS’06., 346–350. 10.1109/VSS.2006.1644542.
- Slocum: an underwater glider propelled by environmental energy. IEEE Journal of Oceanic Engineering, 26(4), 447–452. 10.1109/48.972077.
- Spiraling motion of underwater gliders: Modeling, analysis, and experimental results. Ocean Engineering, 60, 1–13. https://doi.org/10.1016/j.oceaneng.2012.12.023.
- Effective turning motion control of internally actuated autonomous underwater vehicles. Journal of Intelligent and Robotic Systems: Theory and Applications, 89(1-2), 175–189. 10.1007/s10846-017-0544-3.