Adaptive Cooperative Diving of Saucer-Type Underwater Gliders Subject to Model Uncertainties and Input Constraints

Adaptive Cooperative Diving of Saucer-Type Underwater Gliders Subject to Model Uncertainties and Input Constraints

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This paper is concerned with the cooperative diving problem of homogenous under-actuated saucer-type autonomous underwater gliders subject to model uncertainties, input constraints as well as external disturbances.A modular back-stepping design method is used to design a robust adaptive cooperative diving controller for each glider.Especially, a kinematic control law is at first designed by employing a line-of-sight hbl5266ca guidance principle, and a path variable update law is developed based on a synchronization strategy.

Next, in order to identify the unknown dynamics better waters xl7000 of gliders, an estimation model is constructed by using a fuzzy approximation technique and a low-frequency learning scheme.Finally, it is proved that the closed-loop system is input-to-state stable by using a cascade stability analysis.The simulation results are given to demonstrate the effectiveness of the proposed method for cooperative diving of autonomous underwater gliders in a vertical plane.