The DOI matches its Crossref record; 7 of the 7 references it cites were found in a registry or an index.
Model-based feedback control of autonomous underwater gliders
Abstract
We describe the development of feedback control for autonomous underwater gliders. Feedback is introduced to make the glider motion robust to disturbances and uncertainty. Our focus is on buoyancy-propelled, fixed-wing gliders with attitude controlled by means of active internal mass redistribution. We derive a nonlinear dynamic model of a nominal glider complete with hydrodynamic forces and coupling between the vehicle and the movable internal mass. We use this model to study stability and controllability of glide paths and to derive feedback control laws. For our analysis, we restrict to motion in the vertical plane and consider linear control laws. For illustration, we apply our methodology to a model of our own laboratory-scale underwater glider.
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Citations
Cites
Virtual leaders, artificial potentials and coordinated control of groups
Leonard, N. E., & Fiorelli, E. (2003) · Proceedings of the 40th IEEE Conference on Decision and Control (Cat. No.01CH37228) · doi:10.1109/cdc.2001.980728 · Cited by 1,262
Self-citationCorben, H. C., Stehle, P., & Chako, N. (1961) · Physics Today · doi:10.1063/1.3057243 · Cited by 1,229
The autonomous underwater glider "Spray"
Sherman, J., Davis, R. E., Owens, W. B., & Valdes, J. (2001) · IEEE Journal of Oceanic Engineering · doi:10.1109/48.972076 · Cited by 810
Aerodynamics, Aeronautics, and Flight Mechanics
McCormick, B. W. (1979) · Infoscience (Ecole Polytechnique Fédérale de Lausanne) · Cited by 668
Airplane Performance, Stability and Control
Perkins, C. D., & Hage, R. E. (1991) · Medical Entomology and Zoology · Cited by 273
Airplane performance, stability and control
Berkowitz, S. M. (1950) · Journal of the Franklin Institute · doi:10.1016/0016-0032(50)90415-7 · Cited by 269
Virtual leaders, artificial potentials and coordinated control of groups
Leonard, N. E., & Fiorelli, E. (2002) · Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes · doi:10.1109/.2001.980728 · Cited by 132
Self-citation
Cited by
Finite Time Lyapunov Exponent Analysis of Model Predictive Control and Reinforcement Learning
Krishna, K., Brunton, S. L., & Song, Z. (2023) · IEEE Access · doi:10.1109/access.2023.3326424 · Cited by 12
“Coordinated control of ocean gliders for adaptive ocean sensing has been exhaustively studied [30], [31], [32], [33].”
Background
Metadata
- Authors
- Leonard, N. E., & Graver, J. G.
- Venue
- IEEE Journal of Oceanic Engineering
- Published
- 2001
- Volume
- 26
- Issue
- 4
- Pages
- 633-645
- ISSN
- 0364-9059 (ISSN-L)
- OpenAlex
- W2120975466
- Cited by
- 386
- References
- 7
- FWCI
- 16.47
- Type
- journal article
- Language
- en
- Open access
- closed
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- Leonard, N. E., & Graver, J. G. (2001). Model-based feedback control of autonomous underwater gliders. IEEE Journal of Oceanic Engineering. https://doi.org/10.1109/48.972106
Data sources
Bibliographic data: Semantic Scholar, OpenAlex, Crossref.
Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
Semantic Scholar’s data is described in: Kinney, R., et al. (2023). The Semantic Scholar Open Data Platform. arXiv:2301.10140.
