Modeling and Vertical Motion Control of Underwater Glider

The underwater glider is a new type of autonomous underwater vehicle driven by buoyancy force,its special drive mode and structural characteristics increase the complexity of modeling and control analysis.To obtain an accurate and efficient control strategy for underwater motion,we need to build a more complete three-dimensional mathematical model by the analysis of kinematics and dynamics of glider, and make some reasonable assumptions and simplification,then a small disturbance vertical plane linear model can be get.On this basis,a LQR regulator of the system is designed by using the linear quadratic optimal control theory,and the disturbance resistance and the tracking response of the system to the control command signal are also discussed.Finally,the vertical plane motion of glider is simulated.The simulation result shows that the glider using LQR regulator has a better ability of disturbance resistance, and the vertical plane motion characteristics of glider are described accurately.