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Journal of Shanghai Jiaotong University(Science) >

2015 , Vol. 20 >Issue 6: 729 - 734

DOI: https://doi.org/10.1007/s12204-015-1683-y

Research article

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

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  • 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 date: 2014-05-07

  Online published: 2020-10-09

Supported by

The Research Fund for Science and Technology Commission of Shanghai Municipality (No. 13dz1204600)

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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： laterally loaded piles; hydraulic head; land deformation; pumping-recovery; $m$-method; back analysis; horizontal displacement; outage performance; heterogeneous circumstance; magnetic resonance imaging (MRI); sparse representation; non-convex; generalized thresholding; amplify-and-forward (AF); beamforming; channel state information (CSI); power control; cognitive radio; monotone optimization; price; Stackelberg game; fairness; supply chain coordination; dictionary updating; alternating direction method; two-level Bregman method with dictionary updating (TBMDU); circular excavation; heterogeneity; substitution; service parts; last stock; admission control scheme; handover service; high-speed train communication; S-clay1 model; undrained compression test; functionally graded materials; low-velocity water entry; cylindrical sandwich panel; rectangular sandwich plate; simply supported; free vibration; supercavitating; ventilated; dynamic mesh; pitching; resting-state brain function network; model network; connection distance minimization; topological property; anatomical distance; wall effect; underwater glider; nonlinear control; adaptive backstepping; Lyapunov function; cylinder structure; cylinder radius; initial velocity; entry angle; soft soil; strain-dependent modulus; common neighbor; video capsule endoscopy (VCE); frame rate; working hours; in vivo experiment

Cite this article

Jun-liang CAO, Bao-heng YAO, Lian LIAN . Nonlinear Pitch Control of an Underwater Glider Based on Adaptive Backstepping Approach[J]. Journal of Shanghai Jiaotong University(Science), 2015 , 20(6) : 729 -734 . DOI: 10.1007/s12204-015-1683-y

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