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An underwater glider is a buoyancy-driven, fixed-wing underwater vehicle that redistributes internal mass to control attitude. We examine the dynamics of a glider restricted to the vertical plane and derive a feedback law that stabilizes steady glide paths. The control law is physically motivated and with the appropriate choice of output can be interpreted as providing input-output feedback linearization. With this choice of output, we extend the feedback linearization approach to design control laws to coordinate the gliding motion of multiple underwater gliders.
Decision and Control, 2002, Proceedings of the 41st IEEE Conference on (Volume:2 )
Date of Conference: 10-13 Dec. 2002