Optimal feedback control parameters for underwater gliders: Balancing energy efficiency and motion accuracy

Abstract

Energy consumption and motion accuracy are two critical factors for evaluating the performance of underwater gliders. While motion accuracy can be improved through the implementation of feedback controllers, such an approach often results in increased energy consumption due to frequent intervention. Thus, there exists a contradiction between energy consumption and motion accuracy. This study aims to optimize the controller parameters of underwater gliders to minimize energy consumption while maximizing the accuracy of gliding motion. To achieve this, an Energy Consumption Model (ECM) and a Motion Accuracy Evaluation Index (MAEI) are developed. An optimization method, based on Pareto optimality and the non-dominated sorting genetic algorithm II, is proposed to balance energy consumption and motion accuracy. A glider mission is simulated to assess the performance of the developed method. The results demonstrate the effectiveness of the proposed approach in generating optimal controller parameters for diverse control objectives, thus enabling quick determination of the controller parameters. This study contributes to the improvement of underwater glider control strategies and facilitates their application in various underwater missions.