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

• Main Authors: Ullah, B., Ovinis, M., Baharom, M.B., Ali, S.S.A., Javaid, M.Y.
• Format: Article
• Published: MechAero Found. for Techn. Res. and Educ. Excellence 2018
• Online Access: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85049104151&doi=10.4273%2fijvss.10.2.12&partnerID=40&md5=4b4f49622fdcfe935e0ed03e9956fcf4; http://eprints.utp.edu.my/21893/
• Institution: Universiti Teknologi Petronas

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 Quadra...