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

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.

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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.

Item Type:Article
Impact Factor:cited By 0
Uncontrolled Keywords:Aircraft control; Bandpass filters; Kalman filters; MATLAB; Ocean currents; Propulsion; Robust control, Controller performance; Linear quadratic Gaussian; Linear quadratic regulator; Longitudinal stability; Propulsion system; Robust control scheme; Robust controllers; Underwater gliders, Controllers
Departments / MOR / COE:Research Institutes > Energy
ID Code:21893
Deposited By: Mr Ahmad Suhairi
Deposited On:01 Aug 2018 01:14
Last Modified:07 Nov 2018 03:43

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