Cooperative Diving of Multiple Under-actuated Saucer-type Autonomous Underwater Gliders Based on Linear Extended State Observers

This paper is concerned with a vertical plane cooperative diving problem of multiple homogenous under-actuated saucer-type autonomous underwater gliders. First, a kinematic control law is constructed on the basis of a line-of-sight guidance principle in a vertical plane. Then, a linear extended state observer is presented to design a cooperative diving controller for each glider. Finally, using the cascade theory to analyze the stability of the closed-loop system. The simulation results are given to prove the effectiveness of the proposed linear extended state observers for the under-actuated saucer-type autonomous underwater glider.