Longitudinal movement modeling and simulation for hybrid underwater glider
More details
Hide details
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
Ayu Latifah   

Department of Electronics and Informatics, Institut Teknologi Bandung, Bandung, 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
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.
Mousavian SH, Koofigar HR. Identification-Based Robust Motion Control of an AUV: Optimized by particle swarm optimization algorithm. Journal of Intelligent & Robotic Systems. 2017;85(2):331–52. https://doi.org/10.1007/s10846....
Khodayari MH, Balochian S. Modeling and control of autonomous underwater vehicle (AUV) in heading and depth attitude via self-adaptive fuzzy PID controller. Journal of Marine Science and Technology. 2015;20(3):559–78. https://doi.org/10.1007/s00773....
Yuan C, Licht S, He H. Formation learning control of multiple autonomous underwater vehicles with heterogeneous nonlinear uncertain dynamics. IEEE Transactions on Cybernetics. 2018;48(10):2920–34. https://doi.org/10.1109/TCYB.2....
Liu F, Wang Y, Niu W, Ma Z, Liu Y. Hydrodynamic performance analysis and experiments of a hybrid underwater glider with different layout of wings. In: OCEANS 2014 - TAIPEI. IEEE; 2014:1–5.
Rezazadegan F, Shojaei K, Sheikholeslam F, Chatraei A. A novel approach to 6-DOF adaptive trajectory tracking control of an AUV in the presence of parameter uncertainties. Ocean Engineering. 2015;107:246–58. https://doi.org/10.1016/j.ocea....
Liang X, Wan L, Blake JIR, Shenoi RA, Townsend N. Path following of an underactuated AUV based on fuzzy backstepping sliding mode control. International Journal of Advanced Robotic Systems. 2016;13(3):122. https://doi.org/10.5772/64065.
Allotta B, Caiti A, Costanzi R, Fanelli F, Fenucci D, Meli E, Ridolfi A. A new AUV navigation system exploiting unscented Kalman filter. Ocean Engineering. 2016;113:121–32. https://doi.org/10.1016/j.ocea....
Geranmehr B, Nekoo SR. Nonlinear suboptimal control of fully coupled non-affine six-DOF autonomous underwater vehicle using the state-dependent Riccati equation. Ocean Engineering. 2015; 96:248–57. https://doi.org/10.1016/j.ocea....
Shen C, Buckham B, Shi Y. Modified C/GMRES Algorithm for fast nonlinear model predictive tracking control of AUVs. IEEE transactions on control systems technology. 2017;25(5):1896–904. https://doi.org/10.1109/TCST.2....
Das B, Subudhi B, Pati BB. Employing nonlinear observer for formation control of AUVs under communication constraints. International Journal of Intelligent Unmanned Systems. 2015;3(2/3):122–55. https://doi.org/10.1108/IJIUS-....
Sarhadi P, Noei AR, Khosravi A. Adaptive integral feedback controller for pitch and yaw channels of an AUV with actuator saturations. ISA Transactions. 2016;65:284–95. https://doi.org/10.1016/j.isat....
Li B, Su T-C. Nonlinear heading control of an autonomous underwater vehicle with internal actuators. Ocean Engineering. 2016;125:103–12. https://doi.org/10.1016/j.ocea....
Liu F, Wang Y, Wu Z, Wang S. Motion analysis and trials of the deep sea hybrid underwater glider Petrel-II. China Ocean Engineering. 2017;31(1):55–62. https://doi.org/10.1007/s13344....
Isa K, Arshad MR, Ishak S. A hybrid-driven underwater glider model, hydrodynamics estimation, and an analysis of the motion control. Ocean Engineering. 2014;81:111–29. https://doi.org/10.1016/j.ocea....
Batmani Y, Davoodi M, Meskin N. Nonlinear suboptimal tracking controller design using state-dependent riccati equation technique. IEEE Transactions on Control Systems Technology. 2017;25(5):1833–9. https://doi.org/10.1109/TCST.2....