Abstract—Autonomous Underwater Glider (AUG) as a high durability Autonomous Underwater Vehicle (AUV) is typically capable of extremely long missions and may travel thousands of kilometers in the ocean. An ability to track the desired paths is indispensable ability of underwater glider due to its long range paths. Heading control system has the main role in path tracking. This paper presents mathematical modelling of a class of underwater glider in lateral plane in order to design the heading control system. Model identification using N4SID method was used to tune the parameters based on the experiment data. The heading motion model of a class underwater glider was evaluated in simulation with varying inputs. The results showed that the tuned model’s responses satisfy the real behavior of underwater glider.
Index Terms—Autonomous underwater glider, modelling, identification, heading motion.
T. W. O. Putri, U. Latifa, B. R. Trilaksono are with Electrical Enginnering in Institut Teknologi Bandung, Indonesia (e-mail: tri.wahyu.op@gmail.com, ulinnuhalatifa@gmail.com, briyanto@lskk.ee.itb.ac.id, egi.hidayat@lskk.ee.itb.ac.id).
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Cite: Tri Wahyu O. Putri, Ulinnuha Latifa, Bambang R. Trilaksono, and Egi M. I. Hidayat, "Modelling and Identification of Underwater Glider for Heading Angle Correction," International Journal of Modeling and Optimization vol. 7, no. 2, pp. 65-69, 2017.
