Abstract
In this article, a novel energy-efficient control method for waypoint tracking of underwater gliders is designed. The method can be divided into a planning layer and a control layer. In the planning layer, a novel steady/unsteady gliding depth intervals-based dead-reckoning is proposed to predict depth-averaged current velocity with lower consumption. Also a novel heading and depth modification strategy based on line-of-sight is proposed to implement waypoint tracking planning. In the control layer, heading control is implemented by two event-triggered extended state observers (ET-ESOs) and an event-triggered backstepping heading controller (ET-BHC). The ET-ESOs intermittently estimate the real states input to the ET-BHC, and the ET-BHC intermittently outputs the control signal. Simulation and sea trial results show that the UG achieves tracking waypoints, and in addition, energy efficiency is significantly improved.
| Original language | English |
|---|---|
| Pages (from-to) | 4064-4077 |
| Number of pages | 14 |
| Journal | IEEE Transactions on Cybernetics |
| Volume | 55 |
| Issue number | 9 |
| DOIs | |
| State | Published - 2025 |
UN SDGs
This output contributes to the following UN Sustainable Development Goals (SDGs)
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SDG 7 Affordable and Clean Energy
Keywords
- Energy-efficient
- event-triggered control
- underwater glider (UG)
- underwater vehicle control
- waypoint tracking
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