Longitudinal movement modeling and simulation for hybrid underwater glider
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Department of Electronics and Informatics, Institut Teknologi Bandung, Bandung, Indonesia
Department of Computer Science, Institut Teknologi Garut, Garut, Indonesia
Department of Electrical Engineering, Universitas Sebelas Maret, Solo, Indonesia
Submission date: 2022-05-20
Final revision date: 2022-11-03
Acceptance date: 2022-12-21
Online publication date: 2023-01-04
Publication date: 2023-01-04
Corresponding author
Ayu Latifah   

Department of Electronics and Informatics, Institut Teknologi Bandung, Bandung, Indonesia
Diagnostyka 2023;24(1):2023106
An autonomous underwater vehicle is a vehicle that can move in water, which is also known as an unmanned undersea vehicle. One type is the hybrid underwater glider where the vehicle is designed in such a way that it is able to carry out missions in the water with less power consumption so that it can last a long time in carrying out missions. In this research, a mathematical design is carried out in the form of a nonlinear model with the aim of being able to produce a model in the longitudinal movement of the HUG vehicle which will be tested limited to a simulation using the MATLAB/Simulink program. The parameters used in the model for this longitudinal movement are obtained by the computational fluid dynamics method so that it has been simulated with various movements according to the mission of the vehicle. In the simulation, input is given in the form of variations in the value of the actuator force to be able to carry out movements according to the mission and the simulation is open loop so that the vehicle's response is in the form of position and speed of translation and rotation.
Authors wishing to acknowledge Institut Teknologi Garut that supports and funds this research publication. Also this paper was supported by Multi Years Programe of PNBP Research Grant from Universitas Sebelas Maret with the contract numbers: 254/UN27.22/PT.01.03/2022.
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