Development and Modelling of Unmaned Underwater Glider using the System Identification Method

Authors

  • M.S.M. Aras Universiti Teknikal Malaysia Melaka
  • M.N. Kamarudin Universiti Teknikal Malaysia Melaka
  • A.S.M. Nor Universiti Teknikal Malaysia Melaka
  • H.I. Jaafar Universiti Teknikal Malaysia Melaka
  • H.N.M. Shah Universiti Teknikal Malaysia Melaka
  • A.M. Kassim Universiti Teknikal Malaysia Melaka
  • M.Z.A. Rashid Universiti Teknikal Malaysia Melaka

Abstract


This paper describes a comparison study for the modelling of the unmanned Underwater Glider (UG) using system identification techniques based on two experimental set up. The experimental data obtained from lab tank test and pool test to infer model using a MATLAB System Identification toolbox. The experimental testing of UG only considered the horizontal movement or called as auto-heading. The modeling obtained will be used to design the suitable controller for heading control. The UG will be tested on an open loop system to obtain measured input-output signals. Input and output signals from the system are recorded and analyzed to infer a model using a System Identification MATLAB toolbox. Two models obtained based on data tabulated and verify using mathematical modelling of UG. The parameter of UG come up from the real model of UG and Solidworks software. The Underwater Lab Tank model has better performance which has faster rise time and settling time than swimming pool model and mathematical model.

 

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Published

2013-12-31

How to Cite

Aras, M., Kamarudin, M., Nor, A., Jaafar, H., Shah, H., Kassim, A., & Rashid, M. (2013). Development and Modelling of Unmaned Underwater Glider using the System Identification Method. Journal of Engineering and Technology (JET), 4(2), 1–22. Retrieved from https://jet.utem.edu.my/jet/article/view/165

Issue

Vol. 4 No. 2 (2013): JOURNAL OF ENGINEERING AND TECHNOLOGY

Section

Articles

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