Journal of Shanghai Jiao Tong University(Science) ›› 2015, Vol. 20 ›› Issue (6): 729-734.doi: 10.1007/s12204-015-1683-y

• Research article • Previous Articles     Next Articles

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

Jun-liang CAO1, Bao-heng YAO1,2,3, Lian LIAN1,2,3,*()   

  1. 1 State Key Laboratory of Ocean Engineering, Shanghai Jiaotong University, Shanghai 200240, China
    2 Institute of Oceanology, Shanghai Jiaotong University, Shanghai 200240, China
    3 Qingdao Collaborative Innovation Center of Marine Science and Technology, Qingdao 266000, Shandong, China
  • Received:2014-05-07 Online:2015-12-20 Published:2020-10-09
  • Contact: Lian LIAN
  • Supported by:
    The Research Fund for Science and Technology Commission of Shanghai Municipality (No. 13dz1204600)


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

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