UNDERWATER GLIDERS: DYNAMICS, CONTROL AND DESIGN

This dissertation concerns modelling the dynamics of underwater gliders and application of the model to analysis of glider dynamics, control, navigation, and design. Underwater gliders are a novel type of autonomous underwater vehicle that glide by controlling their buoyancy and attitude using internal actuators. We develop a first principles based model of the dynamics of a general underwater glider, including hydrodynamic forces, buoyancy and added mass effects, and the nonlinear coupling between glider and moving internal masses. This model is applicable to a wide range of gliders, as opposed to being vehicle specific. Development of a model of the dynamics of a general underwater glider is necessary for systematic model based control and design of this class of vehicles. This work builds on existing aircraft and underwater vehicle theory and facilitates application of existing techniques in dynamics and controls to this new type of vehicle. The glider model is applied to an analysis of the dynamics of underwater gliders, identifying gliding equilibria and their stability in a longitudinal, vertical-plane model, in a simplified dynamic model based on Lanchesters phugoid assumptions, and in full three dimensional gliding. In addition to modelling a class of vehicles, our model can be tailored to a specific glider for the purpose of predicting performance, developing improved control and navigation algorithms, and design analysis. We adapt the glider model to model the Slocum electric glider. Experimental data from trials at sea using a Slocum glider and reference data are used to identify the buoyancy trim and hydrodynamic coefficients of the experimental glider. iii The general glider model is applied to study control of gliders using buoyancy control, internal mass actuators, and external surfaces. A controller and observer for steady gliding and inflections between glides is designed. Control systems on operational gliders are described and analyzed. Controller induced limit cycles are analyzed. An analysis of glider design begins with a comparison of underwater gliders and sailplanes in the air. The glider model is then applied to analysis of glider design and glide speed, glider and ballast sizing, and alternate glider designs, including flying wings.

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