relation: https://khub.utp.edu.my/scholars/10829/
title: Pitch and depth control of underwater glider using LQG and LQR via Kalman filter
creator: Ullah, B.
creator: Ovinis, M.
creator: Baharom, M.B.
creator: Ali, S.S.A.
creator: Javaid, M.Y.
description: Underwater gliders are adversely affected by ocean currents because of their low speed, which is compounded by an inability to make quick corrective manoeuvres due to limited control surface and weak buoyancy driven propulsion system. In this paper, Linear Quadratic Regulator (LQR) and Linear Quadratic Gaussian (LQG) robust controllers are presented for pitch and depth control of an underwater glider. The LQR and LQG robust control schemes are implemented using MATLAB/Simulink. A Kalman filter was designed to estimate the pitch of the glider. Based on the simulation results, both controllers are compared to show the robustness in the presence of noise. The LQG controller results shows good control effort in presence of external noise and the stability of the controller performance is guaranteed. © 2018.
publisher: MechAero Found. for Techn. Res. and Educ. Excellence
date: 2018
type: Article
type: PeerReviewed
identifier:   Ullah, B. and Ovinis, M. and Baharom, M.B. and Ali, S.S.A. and Javaid, M.Y.  (2018) Pitch and depth control of underwater glider using LQG and LQR via Kalman filter.  International Journal of Vehicle Structures and Systems, 10 (2).  pp. 137-141.  ISSN 09753060     
relation: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85049104151&doi=10.4273%2fijvss.10.2.12&partnerID=40&md5=4b4f49622fdcfe935e0ed03e9956fcf4
relation: 10.4273/ijvss.10.2.12
identifier: 10.4273/ijvss.10.2.12