Pitch and depth control of underwater glider using LQG and LQR via Kalman filter

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 Quadra...

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Main Authors: Ullah, B., Ovinis, M., Baharom, M.B., Ali, S.S.A., Javaid, M.Y.
Format: Article
Institution: Universiti Teknologi Petronas
Record Id / ISBN-0: utp-eprints.21243 /
Published: MechAero Found. for Techn. Res. and Educ. Excellence 2018
Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85049104151&doi=10.4273%2fijvss.10.2.12&partnerID=40&md5=4b4f49622fdcfe935e0ed03e9956fcf4
http://eprints.utp.edu.my/21243/
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id utp-eprints.21243
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spelling utp-eprints.212432019-02-26T03:19:34Z Pitch and depth control of underwater glider using LQG and LQR via Kalman filter Ullah, B. Ovinis, M. Baharom, M.B. Ali, S.S.A. Javaid, M.Y. 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. © 2018. MechAero Found. for Techn. Res. and Educ. Excellence 2018 Article NonPeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-85049104151&doi=10.4273%2fijvss.10.2.12&partnerID=40&md5=4b4f49622fdcfe935e0ed03e9956fcf4 Ullah, B. and Ovinis, M. and Baharom, M.B. and Ali, S.S.A. and Javaid, M.Y. (2018) Pitch and depth control of underwater glider using LQG and LQR via Kalman filter. International Journal of Vehicle Structures and Systems, 10 (2). pp. 137-141. http://eprints.utp.edu.my/21243/
institution Universiti Teknologi Petronas
collection UTP Institutional Repository
description 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. © 2018.
format Article
author Ullah, B.
Ovinis, M.
Baharom, M.B.
Ali, S.S.A.
Javaid, M.Y.
spellingShingle Ullah, B.
Ovinis, M.
Baharom, M.B.
Ali, S.S.A.
Javaid, M.Y.
Pitch and depth control of underwater glider using LQG and LQR via Kalman filter
author_sort Ullah, B.
title Pitch and depth control of underwater glider using LQG and LQR via Kalman filter
title_short Pitch and depth control of underwater glider using LQG and LQR via Kalman filter
title_full Pitch and depth control of underwater glider using LQG and LQR via Kalman filter
title_fullStr Pitch and depth control of underwater glider using LQG and LQR via Kalman filter
title_full_unstemmed Pitch and depth control of underwater glider using LQG and LQR via Kalman filter
title_sort pitch and depth control of underwater glider using lqg and lqr via kalman filter
publisher MechAero Found. for Techn. Res. and Educ. Excellence
publishDate 2018
url https://www.scopus.com/inward/record.uri?eid=2-s2.0-85049104151&doi=10.4273%2fijvss.10.2.12&partnerID=40&md5=4b4f49622fdcfe935e0ed03e9956fcf4
http://eprints.utp.edu.my/21243/
_version_ 1741196428443648000
score 11.62408

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