TY - JOUR AV - none Y1 - 2020/// KW - Dynamic models; Dynamics; Motion control; Ocean currents; Spectral density KW - Autonomous underwater gliders; Potential-flow theory; Saw-tooth; Shallow waves; Underwater gliders; Wave characteristics; Waves and currents; Waves and ocean currents KW - Aircraft control SP - 549 A1 - Ullah, B. A1 - Ovinis, M. A1 - Baharom, M.B. A1 - Ali, S.S.A. A1 - Khan, B. A1 - Javaid, M.Y. PB - Springer VL - 25 N1 - cited By 7 TI - Effect of waves and current on motion control of underwater gliders SN - 09484280 IS - 2 JF - Journal of Marine Science and Technology (Japan) EP - 562 UR - https://www.scopus.com/inward/record.uri?eid=2-s2.0-85068191602&doi=10.1007%2fs00773-019-00660-1&partnerID=40&md5=40fd9428c135248d5d1ba04ac7ef84d8 N2 - This paper investigates the effect of waves and ocean currents on the dynamics and motion control of underwater gliders. Waves and ocean currents affect a gliderâ??s performance by deviating from its desired path and reducing its operational range. The influence of wave disturbances and ocean currents is estimated using mathematical models for sea state, potential flow theory and linear wave theory. The effect of waves at various heights, frequency and period were studied for a nonlinear dynamic model of the underwater glider. The wave characteristics have been simulated to investigate their effect on the depth, velocity and range of the glider. Subsequently, a line of sight algorithm in conjunction with controller was designed for the newly designed prototype of the Universiti Teknologi PETRONAS autonomous underwater glider to investigate the action of internal actuators in performing a saw tooth trajectory in the presence of waves and current disturbances. The glider was slightly perturbed due to the shallow and deep waves, with the more pronounced effect at increasing wave amplitude. However, the range of the vehicle remains relatively unchanged. © 2019, The Japan Society of Naval Architects and Ocean Engineers (JASNAOE). ID - scholars13139 ER -