Modeling and PID Control of Underwater Glider Motion

Underwater glider is a new kind of autonomous underwater vehicle driven by buoyancy force,however its special drive mode and structural characteristics increase the complexity of modeling and control analysis.To obtain an accurate and efficient control strategy for underwater motion,a complete three-dimensional mathematical model is built by analyzing kinematics and dynamics of the glider via some reasonable assumptions and simplification,thus a small disturbance vertical plane linear model is achieved.On this basis,a proportional integral differential(PID) controller is designed.In addition,the vertical plane motion of the glider is simulated.The simulation results verify the vertical plane motion characteristics of the glider using the PID controller,and demonstrate its better disturbance resistance and tracking performance.