Stable Sliding PD Control for underwater gliders: Experimental results

In this paper we describe the mechanical and electronic design of KAY JUUL, an academic underwater glider, we also show the results from experimental tests developed in a pool. A Sliding PD Control scheme have been applied in the system, due to we don't know the parameters of the KAY JUUL yet, the control output variables were selected based on simulation results and theoretical analysis of the ROGUE, an academic glider developed by Princeton University. Satisfactory results were expected, have been achieved and are presented here.