Reduced-order optimal controller design for an underwater glider

Abstract

Present study aims to design optimal controllers based on full and reduced-order models of hybrid-driven, buoyancy-propelled underwater Glider. After establishing the glider’s mathematical model and linearizing it about the steady glide path, it is reduced to a lower order by balanced realization method. Then, optimal controllers are designed using Linear Quadratic Regulator (LQR) scheme based on original and reduced-order models to control the glider motion in vertical plane for 35° downward glide path. A satisfactory controllability and tracking is observed from the approximated model controller which confirms the advantageous characteristic of such approximation.