International Journal of Vehicle Structures and Systems

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Pitch and Depth Control of Underwater Glider Using LQG and LQR via Kalman Filter


Affiliations
1 Dept. of Mech. Engg., Universiti Teknologi Petronas, Malaysia
2 Dept. of Electrical Engg., Universiti Teknologi Petronas, Malaysia
 

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Underwater gliders are adversely affected by ocean currents because of their low speed, which is compounded by an inability to make quick corrective manoeuvres due to limited control surface and weak buoyancy driven propulsion system. In this paper, Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) robust controllers are presented for pitch and depth control of an underwater glider. The LQR and LQG robust control schemes are implemented using MATLAB/Simulink. A Kalman filter was designed to estimate the pitch of the glider. Based on the simulation results, both controllers are compared to show the robustness in the presence of noise. The LQG controller results shows good control effort in presence of external noise and the stability of the controller performance is guaranteed.

Keywords

Underwater Glider, Linear Quadratic Regulator, Linear Quadratic Gaussian, Longitudinal Stability, Kalman Filter.
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  • Pitch and Depth Control of Underwater Glider Using LQG and LQR via Kalman Filter

Abstract Views: 585  |  PDF Views: 204

Authors

B. Ullah
Dept. of Mech. Engg., Universiti Teknologi Petronas, Malaysia
M. Ovinis
Dept. of Mech. Engg., Universiti Teknologi Petronas, Malaysia
M. B. Baharom
Dept. of Mech. Engg., Universiti Teknologi Petronas, Malaysia
S. S. A. Ali
Dept. of Electrical Engg., Universiti Teknologi Petronas, Malaysia
M. Y. Javaid
Dept. of Mech. Engg., Universiti Teknologi Petronas, Malaysia

Abstract


Underwater gliders are adversely affected by ocean currents because of their low speed, which is compounded by an inability to make quick corrective manoeuvres due to limited control surface and weak buoyancy driven propulsion system. In this paper, Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) robust controllers are presented for pitch and depth control of an underwater glider. The LQR and LQG robust control schemes are implemented using MATLAB/Simulink. A Kalman filter was designed to estimate the pitch of the glider. Based on the simulation results, both controllers are compared to show the robustness in the presence of noise. The LQG controller results shows good control effort in presence of external noise and the stability of the controller performance is guaranteed.

Keywords


Underwater Glider, Linear Quadratic Regulator, Linear Quadratic Gaussian, Longitudinal Stability, Kalman Filter.

References





DOI: https://doi.org/10.4273/ijvss.10.2.12