Development and robust controller design for underactuated underwater glider platform for UMP lake monitoring
The autonomous underwater glider (AUG) demonstrates highly nonlinear and complexity in its dynamic model and also coupled with external underwater environment and disturbance. With limited actuators, the only option that AUG has in facing such environment and disturbances is by using strategies of c...
| Main Authors: | , , , , |
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| Format: | Research Report |
| Language: | English |
| Published: |
2016
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| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/36445/ http://umpir.ump.edu.my/id/eprint/36445/1/Development%20and%20robust%20controller%20design%20for%20underactuated%20underwater%20glider%20platform%20for%20ump%20lake%20monitoring.wm.pdf |
| _version_ | 1848824997591646208 |
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| author | Mat-Noh, Maziyah Zain, Zainah Md Pebrianti, Dwi Irawan, Addie Daud, Mohd Razali |
| author_facet | Mat-Noh, Maziyah Zain, Zainah Md Pebrianti, Dwi Irawan, Addie Daud, Mohd Razali |
| author_sort | Mat-Noh, Maziyah |
| building | UMP Institutional Repository |
| collection | Online Access |
| description | The autonomous underwater glider (AUG) demonstrates highly nonlinear and complexity in its dynamic model and also coupled with external underwater environment and disturbance. With limited actuators, the only option that AUG has in facing such environment and disturbances is by using strategies of control algorithm. For this reason, the main objective of this research is to formulate the control law that has the capability in facing the external disturbances and uncertainties due its hydrodynamics coefficients. As a result, a robust and reliable has been designed using quasi sliding mode control algorithm (QSMC) for the linearised model of longitudinal plane of an AUG. The performance of QSMC has been compared to linear quadratic regulator (LQR). The simulation results have shown that the proposed controller provides the smallest two times faster settling time than LQR. The prototype of the AUG has been successfully developed and test in water tank environment. |
| first_indexed | 2025-11-15T03:21:55Z |
| format | Research Report |
| id | ump-36445 |
| institution | Universiti Malaysia Pahang |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-15T03:21:55Z |
| publishDate | 2016 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | ump-364452023-03-02T08:31:45Z http://umpir.ump.edu.my/id/eprint/36445/ Development and robust controller design for underactuated underwater glider platform for UMP lake monitoring Mat-Noh, Maziyah Zain, Zainah Md Pebrianti, Dwi Irawan, Addie Daud, Mohd Razali TK Electrical engineering. Electronics Nuclear engineering The autonomous underwater glider (AUG) demonstrates highly nonlinear and complexity in its dynamic model and also coupled with external underwater environment and disturbance. With limited actuators, the only option that AUG has in facing such environment and disturbances is by using strategies of control algorithm. For this reason, the main objective of this research is to formulate the control law that has the capability in facing the external disturbances and uncertainties due its hydrodynamics coefficients. As a result, a robust and reliable has been designed using quasi sliding mode control algorithm (QSMC) for the linearised model of longitudinal plane of an AUG. The performance of QSMC has been compared to linear quadratic regulator (LQR). The simulation results have shown that the proposed controller provides the smallest two times faster settling time than LQR. The prototype of the AUG has been successfully developed and test in water tank environment. 2016 Research Report NonPeerReviewed pdf en http://umpir.ump.edu.my/id/eprint/36445/1/Development%20and%20robust%20controller%20design%20for%20underactuated%20underwater%20glider%20platform%20for%20ump%20lake%20monitoring.wm.pdf Mat-Noh, Maziyah and Zain, Zainah Md and Pebrianti, Dwi and Irawan, Addie and Daud, Mohd Razali (2016) Development and robust controller design for underactuated underwater glider platform for UMP lake monitoring. , [Research Report] (Unpublished) |
| spellingShingle | TK Electrical engineering. Electronics Nuclear engineering Mat-Noh, Maziyah Zain, Zainah Md Pebrianti, Dwi Irawan, Addie Daud, Mohd Razali Development and robust controller design for underactuated underwater glider platform for UMP lake monitoring |
| title | Development and robust controller design for underactuated underwater glider platform for UMP lake monitoring |
| title_full | Development and robust controller design for underactuated underwater glider platform for UMP lake monitoring |
| title_fullStr | Development and robust controller design for underactuated underwater glider platform for UMP lake monitoring |
| title_full_unstemmed | Development and robust controller design for underactuated underwater glider platform for UMP lake monitoring |
| title_short | Development and robust controller design for underactuated underwater glider platform for UMP lake monitoring |
| title_sort | development and robust controller design for underactuated underwater glider platform for ump lake monitoring |
| topic | TK Electrical engineering. Electronics Nuclear engineering |
| url | http://umpir.ump.edu.my/id/eprint/36445/ http://umpir.ump.edu.my/id/eprint/36445/1/Development%20and%20robust%20controller%20design%20for%20underactuated%20underwater%20glider%20platform%20for%20ump%20lake%20monitoring.wm.pdf |