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Development of a hybrid-driven autonomous underwater glider with a biologically inspired motion control system

Isa, Khalid and Arshad, Mohd Rizal (2015) Development of a hybrid-driven autonomous underwater glider with a biologically inspired motion control system. In: 10th Asian Control Conference (ASCC 2015), 31 May - 3 June 2015, Sutera Harbour Resort, Kota Kinabalu, Sabah.

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Abstract

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

Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: hybrid-driven underwater glider; homeostatic controller; motion control; homeostasis
Subjects: T Technology > TJ Mechanical engineering and machinery > TJ1040-1119 Machinery exclusive of prime movers
Divisions: Faculty of Electrical and Electronic Engineering > Department of Computer Engineering
Depositing User: Mrs. Nurhayati Ali
Date Deposited: 15 Oct 2015 06:28
Last Modified: 15 Oct 2015 06:28
URI: http://eprints.uthm.edu.my/id/eprint/7373
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