Underwater Glider Modelling And Analysis For Variable Control Parameters

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dc.contributor.authorAli Hussain, Nur Afande
dc.date.accessioned2019-10-29T03:24:42Z
dc.date.accessioned2019-10-29T03:24:47Z
dc.date.available2019-10-29T03:24:42Z
dc.date.available2019-10-29T03:24:47Z
dc.date.issued2014-01
dc.description.abstractUnderwater glider is a type of autonomous underwater vehicle that can glide by controlling their buoyancy and attitude using internal actuators. By changing the vehicle’s buoyancy intermittently, forward motion can be achieved. Deriving the mathematical model directly from the system can be too complicated due to time constraints in prototyping development processes. This thesis presents the early development of the USM underwater glider platform consist of prototype development involves vehicle concept design using SolidworksTM, vehicle simulations by Computational Fluid Dynamics (CFD) and alternative way of modelling known as system identification in order to obtain the underwater glider system model. The appropriate control parameters for underwater glider control were determined by selecting the ballast rate as the input. Three aspects of the dynamics of a glider will be observed, i.e. net buoyancy, depth of the glider and pitching angle. The best three parametric models that are able to estimate the system correctly are chosen, and the fit between measured and estimated outputs is presented in order to get an optimal underwater glider vehicle model for USM underwater glider platform.en_US
dc.identifier.urihttp://hdl.handle.net/123456789/9103
dc.language.isoenen_US
dc.publisherUniversiti Sains Malaysiaen_US
dc.subjectUnderwater Glideren_US
dc.subjectVariable Controlen_US
dc.titleUnderwater Glider Modelling And Analysis For Variable Control Parametersen_US
dc.typeThesisen_US
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Pusat Pengajian Kejuruteraaan Elektrik dan Elektronik - Tesis