Adaptive identification of underwater glider using U-model for depth & pitch control under hydrodynamic disturbances

Isra Abbasi, Syed Saad Azhar Ali*, Mark Ovinis, Wasif Naeem

*Corresponding author for this work

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

This paper presents an adaptive identification method based on recently developed control oriented model called U-model for online identification of underwater glider. It is indicated from obtained results that the proposed technique can accurately and adaptively model nonlinearity and dynamics of underwater glider even in presence of hydrodynamic disturbances. Since the proposed identification U-model scheme is control oriented in nature, hence it can be further utilized to synthesize a simple law for depth and pitch control of glider.

Original languageEnglish
Pages (from-to)113-118
Number of pages6
JournalJurnal Teknologi
Volume74
Issue number9
DOIs
Publication statusPublished - 27 Jun 2015

Keywords

  • Adaptive algorithm
  • RBFNN
  • Stability
  • Underwater robotics

ASJC Scopus subject areas

  • Engineering(all)

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