Research on Anti-Interference Nonlinear Adaptive Control Method for Autonomous Underwater Gliders | Zendy

Wenqing Zhang | Zendy; Lianglong Da | Zendy; Tian De-Yan | Zendy; Qindong Sun | Zendy; Wenlong Wang | Zendy; Wenjing Chen | Zendy

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Research on Anti-Interference Nonlinear Adaptive Control Method for Autonomous Underwater Gliders

Author(s) -

Wenqing Zhang,

Lianglong Da,

Tian De-Yan,

Qindong Sun,

Wenlong Wang,

Wenjing Chen

Publication year - 2021

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2021/9998061

Subject(s) - underwater glider , glider , control theory (sociology) , robustness (evolution) , underwater , nonlinear system , line of sight , tracking error , lyapunov function , controller (irrigation) , underactuation , interference (communication) , computer science , engineering , marine engineering , control (management) , physics , aerospace engineering , artificial intelligence , geology , channel (broadcasting) , computer network , chemistry , oceanography , biology , biochemistry , quantum mechanics , agronomy , gene

In this paper, the characteristics of underactuation are analyzed according to the working principle of underwater glider, a complete 6DOF model of underwater glider is established, and the error equation of 3D path tracking is given. Based on the line-of-sight navigation method in three-dimensional space, the nonlinear adaptive control strategy is designed, and the roll angle control law, pitch angle control law, and depth control law of underwater glider are given. The tracking error of underwater glider is proved to be convergent by Lyapunov stability theorem. Finally, the results of marine experiments verify that the nonlinear controller designed in this paper can overcome the influence of constant current disturbance under certain conditions and has good robustness and good tracking effect under different ocean current sizes and course angles. Of course, one control method cannot be applicable to all sea conditions. When the angle between the size and direction of the ocean current exceeds a certain value, the tracking control of the underwater glider will show obvious divergence. Therefore, the stability range against the interference of the sea current is given in this paper.

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