The Summary of Underwater Gliders Control Strategies

The underwater glider is a new type of system that combines buoy technology and underwater robotics technology. By changing the net buoyancy as a driving force and changing its own center of gravity position, the attitude angle can be changed. Many advantages, such as gliding with high efficiency, wide cruise range, less power consumption, low noise, and no pollution, make the underwater glider an important platform for marine environment observation and ocean resource exploration. In this paper, control strategies for existing underwater gliders are reviewed. A total of 51 papers indexed by Scopus with keywords control and underwater gliders were reviewed from 1989 to 2016. The majority of gliders use classical controllers, which cannot dynamically compensate for un-modeled hydrodynamic forces and unknown variations in water current and wind. With increasing operational depths and larger payloads, control strategies will become an increasingly important aspect for these gliders. Control strategies implemented in underwater gliders were reviewed and alternative control strategies are proposed.

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