Robust Adaptive Heading Control for a Ray-Type Hybrid Underwater Glider with Propellers
This paper presents the modeling of a new ray-type hybrid underwater glider (RHUG) and an experimental approach used to robustly and adaptively control heading motion.The motions of the proposed RHUG are divided into vertical-plane motions and heading motion.Hydrodynamic coefficients in the vertical-plane dynamics are obtained using a computational