Underwater gliders: modeling, control and simulation studies

Gören, Semih
This thesis includes mathematical model, navigation, controller design and guidance of the underwater gliders. Firstly, the mathematical model of the underwater glider is obtained with external forces and moments. The hydrodynamic coefficients are obtained by using the strip theory and Missile DATCOM Simulation Program. For navigation, optimal state estimator Kalman filter is implemented to find the position and the linear velocities of the underwater glider. The controllers are designed according to the linear model which is obtained by linearizing the nonlinear model at equilibrium points. LQG (Linear Quadratic Gaussian) and SMC (Sliding Mode Control) controllers are implemented to control position of the vehicle with respect to earth inertial frame. For the final part of the study, guidance is achieved with LOS (Line of Sight) guidance algorithm. Besides guidance, an obtacle avoiding algorithm that uses the sonar range sensors is studied. 
Citation Formats
S. Gören, “Underwater gliders: modeling, control and simulation studies,” M.S. - Master of Science, Middle East Technical University, 2016.