Development of a hybrid-driven autonomous underwater glider with a biologically inspired motion control system
This paper presents prototype development of a hybrid-driven autonomous underwater glider with a biologically inspired motion control system. The hybrid-driven glider with an independently controllable wings and a rudder was developed to overcome the drawback of a typical buoyancy-driven underwater...
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| Main Authors: | , |
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| Format: | Conference or Workshop Item |
| Published: |
2015
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/7373/ |
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| Summary: | This paper presents prototype development of a
hybrid-driven autonomous underwater glider with a biologically
inspired motion control system. The hybrid-driven glider with an
independently controllable wings and a rudder was developed to
overcome the drawback of a typical buoyancy-driven underwater
glider in terms of speed and maneuverability. However, it is
difficult to control the glider due to the high nonlinear and timevarying
dynamic behavior of the glider; uncertainties in
hydrodynamics coefficients; and disturbances by water currents.
Thus, a robust and reliable bio-inspired controller algorithm has
been designed. The controller algorithm has been designed to
mimic a human innate control mechanism, which is known as
homeostatic controller. The performance of the homeostatic
controller of the hybrid-driven glider has been analyzed via
simulation and experimental. From the simulation result, our
homeostatic controller achieves better performance compared to
the LQR, MPC, NN and neuroendocrine controller approaches.
Furthermore, validation analysis of the homeostatic controller
performance between the simulation and experimental results
have shown very satisfactory performance |
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