Nonlinear Pitch Control of an Underwater Glider Based on Adaptive Backstepping Approach

doi:10.1007/s12204-015-1683-y

Abstract

Abstract:

Underwater gliders are highly efficient and long-ranged autonomous underwater vehicles. The typical dynamic modeling in the vertical plane is of multi-input multi-output (MIMO), which is underactuated while easily affected by the ambient environment. To resolve the problems of MIMO, the dynamic model is transformed into a single-input single-output (SISO) system with two dubious parameters, and an adaptive backstepping controller is designed and applied in this paper. A Lyapunov function has been established with the total energy of the system converged in the controller. Contrast result of simulation has demonstrated that the derived nonlinear controller has higher tracking precision and faster response than the proportional-integral-derivative (PID) control method, which indicates its excellent capability to deal with the controlling problems of underwater gliders.

Key words: underwater glider|nonlinear control|adaptive backstepping|Lyapunov function

CLC Number:

P 754.3

Jun-liang CAO, Bao-heng YAO, Lian LIAN. Nonlinear Pitch Control of an Underwater Glider Based on Adaptive Backstepping Approach[J]. Journal of Shanghai Jiao Tong University(Science), 2015, 20(6): 729-734.

References 14

[1]	Stommel H.The Slocum mission[J]. Oceanography, 1989, 2(1): 22-25.
[2]	Eriksen C C, Osse T J, Light R D,et al.Seaglider: A long-range autonomous underwater vehicle for oceanographic research[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 424-436.
[3]	Webb D C, Simonetti P J, Jones C P.SLOCUM: An underwater glider propelled by environmental energy[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 447-452.
[4]	Sherman J, Davis R, Owens W,et al.The autonomous underwater glider “spray”[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 437-446.
[5]	Isa K, Arshad M.Buoyancy-driven underwater glider modelling and analysis of motion control[J]. Indian Journal of Geo-Marine Sciences, 2012, 41(6): 516-526.
[6]	Graver J G.Underwater gliders: Dynamics, control and design[D]. Princeton, USA: Department of Mechanical and Aerospace Engineering, Princeton University, 2005.
[7]	Bachmayer R, Graver J G, Leonard N E. Glider control: A close look into the current glider controller structure and future developments[C]// IEEE Oceans 2003. Piscataway, NJ: IEEE, 2003: 951-954.
[8]	Mahmoudian N, Woolsey C.Underwater glider motion control [C]// IEEE Conference on Decision and Control. Cancun, NJ: IEEE, 2008: 552-557.
[9]	Leonard N E, Graver J G.Model-based feedback control of autonomous underwater gliders[J]. IEEE Journal of Oceanic Engineering, 2001, 26(4): 633-645.
[10]	Noh M M, Arshad M R, Mokhtar R M.Depth and pitch control of USM underwater glider: Performance comparison PID vs. LQR[J]. Indian Journal of Geo-Marine Sciences, 2011, 40(2): 200-206.
[11]	Yang H, Ma J. Nonlinear control for autonomous underwater glider motion based on inverse system method [J]. Journal of Shanghai Jiaotong University (Science), 2010, 15(6): 713-718.
[12]	Bhatta P, Leonard N E.Nonlinear gliding stability and control for vehicles with hydrodynamic forcing[J]. Automatica, 2008, 44(5): 1240-1250.
[13]	Li J-H, Lee P-M.Design of an adaptive nonlinear controller for depth control of an autonomous underwater vehicle[J]. Ocean Engineering, 2005, 32(17): 2165-2181.
[14]	Bhatta P.Nonlinear stability and control of gliding vehicles [D]. Princeton, USA: Department of Mechanical and Aerospace Engineering, Princeton University, 2004.

[1]	YU Xinyi (禹鑫燚), WU Jiaxin (吴加鑫), XU Chengjun (许成军), LUO Huizhen (罗惠珍), OU Linlin∗ (欧林林). Adaptive Human-Robot Collaboration Control Based on Optimal Admittance Parameters [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(5): 589-601.
[2]	YU Hao, ZHANG Zhemeng, PENG Sui, ZHANG Zhiqiang, REN Wanxin, LI Canbing. Comparative Analysis of Technical Standards for Offshore Wind Power via VSC-HVDC [J]. Journal of Shanghai Jiao Tong University, 2022, 56(4): 403-412.
[3]	ZHANG Liang, QU Gang, LI Huixing, JIN Haochun. Research and Application of Key Technologies of Network Security Situation Awareness for Smart Grid Power Control Systems [J]. Journal of Shanghai Jiao Tong University, 2021, 55(S2): 103-109.
[4]	XU Haiyu, LUO Kai, HUANG Chuang, ZUO Zhenhao, GU Jianxiao. Variation Characteristics of Formation and Development of Ventilated Supercavity at Low Froude Numbers [J]. Journal of Shanghai Jiao Tong University, 2021, 55(8): 934-941.
[5]	YAO Shengjian, YAN Guozheng, WANG Zhiwu, ZHOU Zerun, JIANG Pingping, DING Zifan, HUA Fangfang, ZHAO Kai, HAN Ding. Low-Power Consumption Design and Optimization of New Artificial Anal Sphincter [J]. Journal of Shanghai Jiao Tong University, 2021, 55(7): 899-906.
[6]	HE Jinhui, LI Mingguang, CHEN Jinjian, XIA Xiaohe. Particle-Fluid Coupling Algorithm Considering Dynamic Fluid Mesh [J]. Journal of Shanghai Jiao Tong University, 2021, 55(6): 645-651.
[7]	CHEN Feier (陈飞儿), ZHAO Qiyuan (赵祺源), CAO Mingming (曹明明), CHEN Jiayi (陈嘉屹), FU Guiyuan (傅桂元). Adaptive Agent-Based Modeling Framework for Collective Decision-Making in Crowd Building Evacuation [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(4): 522-533.
[8]	WU Lihong, FENG Xisheng, YE Zuolin, LI Yiping. Physics-Based Simulation of AUV Forced Diving by Self-Propulsion [J]. Journal of Shanghai Jiao Tong University, 2021, 55(3): 290-296.
[9]	TAN Jia, LI Zhiyi, YANG Huan, ZHAO Rongxiang, JU Ping. A Multi-Level Collaborative Load Forecasting Method for Distribution Networks Based on Distributed Optimization [J]. Journal of Shanghai Jiao Tong University, 2021, 55(12): 1544-1553.
[10]	LÜ Xiangmei, LIU Tianqi, LIU Xuan, HE Chuan, NAN Lu, ZENG Hong. Low-Carbon Economic Dispatch of Multi-Energy Park Considering High Proportion of Renewable Energy [J]. Journal of Shanghai Jiao Tong University, 2021, 55(12): 1586-1597.
[11]	WEI Lishen, FENG Yuang, FANG Jiakun, AI Xiaomeng, WEN Jinyu. Impact of Renewable Energy Integration on Market-Clearing Results in Spot Market Environment [J]. Journal of Shanghai Jiao Tong University, 2021, 55(12): 1631-1639.
[12]	HUANG Ningning (黄宁宁), MA Yixin (马艺馨), ZHANG Mingzhu (张明珠), GE Hao (葛浩), WU Huawei (吴华伟). Finite Element Modeling of Human Thorax Based on MRI Images for EIT Image Reconstruction [J]. J Shanghai Jiaotong Univ Sci, 2021, 26(1): 33-39.
[13]	CHEN Longsheng, WANG Qi, HE Guoyi. Adaptive Control of Non-Affine Pure Feedback Nonlinear Switching Systems [J]. Journal of Shanghai Jiaotong University, 2020, 54(9): 981-986.
[14]	MEI Hantong, MA Lijuan, WU Guanghui, SHAO Xiang, XU Pengya. Adaptive Backstepping Attitude Control System Design of Long-range Missile [J]. Air & Space Defense, 2020, 3(3): 118-123.
[15]	ZHAO Ting, WANG Shentao, NIU Lin, XI Peili, CAI Yunze. Detection Algorithm of Ship Wake in SAR Images [J]. Journal of Shanghai Jiao Tong University, 2020, 54(12): 1259-1268.