Oo, Fhong Hao
(2014)
Observer Design For Underwater Glider.
Masters thesis, Perpustakaan Hamzah Sendut.
Abstract
Underwater gliders have numerous advantages over the conventional underwater
vehicles in oceanographic applications. Gliders offered long duration and long range
missions with low energy consumption. Internal actuation design protected actuators
from ocean environment and have higher durability. Autonomous control strategies
and path planning have been proposed by researchers. Controller for glider system
required information from the system sensed outputs to perform closed-loop system.
However some of the system states are difficult and unable to be measured during
underwater and they are needed to be estimated. Presently the glider states estimation
are based on assumption of constant angle of attack, pitch angle and so on. But this
states estimation technique is lack of accuracy. To overcome this, linear observer has
been proposed to estimate the unmeasured states and improved the estimation
accuracy. However the states estimation by linear observer is only accurate for
observation on linear model with motion close to equilibrium glide. For states
estimation on nonlinear dynamic and all glide path aspect, nonlinear glider model
based observer design is desired.
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