Trajectory Control Strategies for the Underwater Glider

The linear quadratic regulator for the underwater glider is designed, and the motion path of the feedback control system in ocean vertical plane is studied. First, changes of the trajectory path when the glider is in steady moving are tested in this paper. Then, according to the fact that the glider needs sharp turning, two kinds of control strategies are studied. From the contrastive analysis, we choose a better strategy for the glider. Simulation result shows that, the control strategy can improve the moving performance of the underwater glider.