ࡱ>  YXj RHbjbjssL9  ggg4hLUVc5-5-5-5-/0K1PSSSSSSS$hW Z:Sg1."/11S5-5-Tw@w@w@1T 85-g5-Sw@1Sw@w@JhO-L5-pݎ;YKST0UiKDZ?^ -LDZl^$g-LT11w@11111SSw@111U1111^111111111  :  MACROBUTTON MTEditEquationSection2 Equation Chapter 1 Section 1 SEQ MTEqn \r \h \* MERGEFORMAT  SEQ MTSec \r 1 \h \* MERGEFORMAT  SEQ MTChap \r 1 \h \* MERGEFORMAT WN!jWvmTqR4l Nn:gWvbc6R }vPN:_1 ^u1,2 UCQ52 l3^Q{'Yf[ Oo`Nc6R] zf[b [ l3 110168 -NVyf[bl3ꁨRSxvz@b :ghVNf[V[͑p[[ [ l3 110016 XdmTqR4l Nn:gHybrid-driven underwater gliders {yHDUGs)/fƖeNꁻl4l N:ghVNAutomomous Underwater Vehicles {y AUVs T4l Nn:gAutonomous Underwater Gliders,{y AUGs NNSOveW4l N:ghVN01uNHDUGs/f^~'`0:_&T NS0RwmAm0~g Nnx[I{V }vq_T :NNKQ gُN [mTqR4l N:ghVN]\O(WmT!j_ N [vQWvbcQNNyWN!jWTn!jc6Rv^~'`c6Rel 勹el\SY|~&:N$N*NUSeQUSQv~'`|~ Nw~gfN勹elwQ go}Yvc6R'` N[YLupbRwQ gN[vh'`0 sQ.͋mTqR4l Nn:g^~'`c6RWvbc6R!jWn!jc6R -NVR{|S TP13 e.shƋxA Longitudinal Control for Hybrid-driven Underwater Glider Based on Inverse System Bai Leqiang 1, Xing Jiansheng 1,2, Tang Yuangui 2 Shenyang Jianzhu University , Information & Control Engineering Faculty Shenyang 110168, China 2. Shenyang Institute of Automation Chinese Academy of Science, State Key Laboratory of Robotics, Shenyang 110016, China) Abstract: Hybrid-driven underwater gliders (HDUGs) is a new type of underwater robot which is a combine of the autonomous underwater vehicles (AUVs) and autonomous underwater gliders (AUGs). Hybrid-driven underwater robot is nonlinear, strong coupling, influenced by the ocean currents and its structure of dynamic model is uncertain. To confront with these problems, a nonlinear control method based on the inverse system and sliding mode control was used for the hybrid-driven mode, which decouple the original system into two independent single input and single output linear subsystems. Simulation results show that this method not only has a good control performance, but also be robust with the external disturbance . 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