Modeling and motion control of a hybrid-driven underwater glider

971-979Present study consists a mathematical model and motion control analysis for a hybrid-driven underwater glider, which can be propelled by using buoyancy and propeller with an addition of wings and a rudder that can be controlled independently. Thus, it can overcome the constraints of speed and maneuverability that was normally possessed by the fixed-winged buoyancy-driven underwater glider. Mathematical model of the glider is based on the Newton-Euler approach, and the hydrodynamics of the glider are estimated based on the Slender-body theory. Glider is controlled by six control inputs: the deflection angle of the right and left wing, the angle of a rudder, two net forces of a sliding mass and the pumping rate of a ballast pump. A Linear Quadratic Regulator (LQR) controller is used to obtain better control performance over the glider motion. Results show that the glider is stable, and the controller performance is satisfactory