Depth control design and simulation of hybrid underwater glider

Abstract

The hybrid underwater glider is a class from the autonomous underwater vehicle (AUV) that the concept of a buoyancy-engine to drive the vehicle sinking or to float are integrated and propeller propulsion systems for variable motion. This kind of vehicle has multi-functionality that enables to maneuver with glider and AUV mode so that it is an effective tool for oceanographic research. To represent the vehicle dynamic, the mathematical model base on the Newton-Euler approach is designed as a nonlinear equation that derives from forces and moment that acting from the vehicle design. For glider motion, buoyancy-engine and moving mass are coupled for working as an input controller actuator, and there is controlling need to make the vehicle go to mission point in some depth for a mission. In this paper, the depth controller will be designed to make the vehicle stay on depth condition. PID controller is used for controller design, that the mathematical model is derived to linear model. Simulation on MATLAB/Simulink is used to design the model and get dynamic vehicle response. With vehicle characteristic for glider motion, desired waypoint obtained with PD control for moving mass in x-axes and P controller for buoyancy engine.