Observer Design For Underwater Glider
Underwater gliders have numerous advantages over the conventional underwater vehicles in oceanographic applications. Gliders offered long duration and long range missions with low energy consumption. Internal actuation design protected actuators from ocean environment and have higher durability....
Saved in:
| Main Author: | |
|---|---|
| Format: | Thesis |
| Language: | English |
| Published: |
2014
|
| Subjects: | |
| Online Access: | http://eprints.usm.my/60810/1/24%20Pages%20from%2000001780818.pdf |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| id |
my-usm-ep.60810 |
|---|---|
| record_format |
uketd_dc |
| spelling |
my-usm-ep.608102024-07-10T01:34:01Z Observer Design For Underwater Glider 2014-07 Oo, Fhong Hao TK1-9971 Electrical engineering. Electronics. Nuclear engineering Underwater gliders have numerous advantages over the conventional underwater vehicles in oceanographic applications. Gliders offered long duration and long range missions with low energy consumption. Internal actuation design protected actuators from ocean environment and have higher durability. Autonomous control strategies and path planning have been proposed by researchers. Controller for glider system required information from the system sensed outputs to perform closed-loop system. However some of the system states are difficult and unable to be measured during underwater and they are needed to be estimated. Presently the glider states estimation are based on assumption of constant angle of attack, pitch angle and so on. But this states estimation technique is lack of accuracy. To overcome this, linear observer has been proposed to estimate the unmeasured states and improved the estimation accuracy. However the states estimation by linear observer is only accurate for observation on linear model with motion close to equilibrium glide. For states estimation on nonlinear dynamic and all glide path aspect, nonlinear glider model based observer design is desired. 2014-07 Thesis http://eprints.usm.my/60810/ http://eprints.usm.my/60810/1/24%20Pages%20from%2000001780818.pdf application/pdf en public masters Perpustakaan Hamzah Sendut Pusat Pengajian Kejuruteraan Elektrik & Elektronik |
| institution |
Universiti Sains Malaysia |
| collection |
USM Institutional Repository |
| language |
English |
| topic |
TK1-9971 Electrical engineering Electronics Nuclear engineering |
| spellingShingle |
TK1-9971 Electrical engineering Electronics Nuclear engineering Oo, Fhong Hao Observer Design For Underwater Glider |
| description |
Underwater gliders have numerous advantages over the conventional underwater
vehicles in oceanographic applications. Gliders offered long duration and long range
missions with low energy consumption. Internal actuation design protected actuators
from ocean environment and have higher durability. Autonomous control strategies
and path planning have been proposed by researchers. Controller for glider system
required information from the system sensed outputs to perform closed-loop system.
However some of the system states are difficult and unable to be measured during
underwater and they are needed to be estimated. Presently the glider states estimation
are based on assumption of constant angle of attack, pitch angle and so on. But this
states estimation technique is lack of accuracy. To overcome this, linear observer has
been proposed to estimate the unmeasured states and improved the estimation
accuracy. However the states estimation by linear observer is only accurate for
observation on linear model with motion close to equilibrium glide. For states
estimation on nonlinear dynamic and all glide path aspect, nonlinear glider model
based observer design is desired. |
| format |
Thesis |
| qualification_level |
Master's degree |
| author |
Oo, Fhong Hao |
| author_facet |
Oo, Fhong Hao |
| author_sort |
Oo, Fhong Hao |
| title |
Observer Design For Underwater Glider |
| title_short |
Observer Design For Underwater Glider |
| title_full |
Observer Design For Underwater Glider |
| title_fullStr |
Observer Design For Underwater Glider |
| title_full_unstemmed |
Observer Design For Underwater Glider |
| title_sort |
observer design for underwater glider |
| granting_institution |
Perpustakaan Hamzah Sendut |
| granting_department |
Pusat Pengajian Kejuruteraan Elektrik & Elektronik |
| publishDate |
2014 |
| url |
http://eprints.usm.my/60810/1/24%20Pages%20from%2000001780818.pdf |
| _version_ |
1804889001729982464 |