Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider
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Authors
Yu-hai Liu
- School of Information Science and Engineering, Ocean University of China.
Zhi-qiang Su
- College of Engineering, Ocean University of China, 238 Songling Road, Qingdao, Shandong, 266100, China
Xin Luan
- School of Information Science and Engineering, Ocean University of China.
Da-lei Song
- College of Engineering, Ocean University of China, 238 Songling Road, Qingdao, Shandong, 266100, China
Lei Han
- School of Information Science and Engineering, Ocean University of China.
Abstract
Underwater gliders are used for deep-water gliding to observe large areas with minimal energy consumption. The pitch
angle of the underwater glider is an important control parameter. This study involved designing a fuzzy-PID controller for the
pitch angle of an underwater glider based on hydrodynamics analysis. The formula of pitch angle is obtained and a system
identification method was used to identify the transfer function based on the time-domain equation and initial experimental data.
The fuzzy-PID control algorithm was used to design the controller. Lake and sea trials indicated that the minimum overshoot
reached 0% and the settling time was about 34s when the change of the angle was \(15^o\)
. The minimum steady-state error was
\(0.8^o\)
. These advantages could reduce the consumption of energy and improve the accuracy of gliding trajectory. Therefore, this
control algorithm should be applied to control the pitch of the gliders.
Share and Cite
ISRP Style
Yu-hai Liu, Zhi-qiang Su, Xin Luan, Da-lei Song, Lei Han, Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider, Journal of Mathematics and Computer Science, 17 (2017), no. 1, 133-147
AMA Style
Liu Yu-hai, Su Zhi-qiang, Luan Xin, Song Da-lei, Han Lei, Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider. J Math Comput SCI-JM. (2017); 17(1):133-147
Chicago/Turabian Style
Liu, Yu-hai, Su, Zhi-qiang, Luan, Xin, Song, Da-lei, Han, Lei. "Motion analysis and fuzzy-PID control algorithm designing for the pitch angle of an underwater glider." Journal of Mathematics and Computer Science, 17, no. 1 (2017): 133-147
Keywords
- Underwater glider
- pitch angle
- fuzzy-PID control
- mathematical mode
MSC
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