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<p>This paper proposes an asymmetry-adaptive backstepping pitch control (ABPC) strategy designed for underwater gliders to address the intrinsic asymmetry in pitch dynamics that arises during profiling maneuvers. Conventional control schemes commonly exhibit degraded performance in the presence of nonlinear hydrodynamic effects and actuator complexities. In contrast, ABPC incorporates real-time dynamic states into control formulation, thereby improving system responsiveness. This integration ensures hierarchical stability across multiple control layers and enables the controller to generate effective and proportionally scaled responses under varying operational conditions. A comprehensive six-degree-of-freedom dynamic model of a glider is developed and subsequently simplified to a pitch-dominant subsystem for control design. Numerical simulations reveal that ABPC substantially outperforms both a proportional-integral-derivative controller and an active disturbance rejection control strategy in terms of transient response and steady-state accuracy. Furthermore, indoor experimental validation using a physical glider prototype demonstrates the feasibility, robustness, and practical applicability of ABPC under real-world uncertainties. The results highlight ABPC’s potential as a high-performance solution for precise and reliable pitch regulation in underwater glider operations.</p>

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Asymmetry-Adaptive Backstepping Method for Accurate Underwater Glider Pitch Control

  • 期刊论文

  • 发表日期：

    2026年6月3日

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  • Wenchuan Zang,
  • Tingting Guo,
  • Hanbin Zhang,
  • Dalei Song,
  • Peng Yao

摘要

This paper proposes an asymmetry-adaptive backstepping pitch control (ABPC) strategy designed for underwater gliders to address the intrinsic asymmetry in pitch dynamics that arises during profiling maneuvers. Conventional control schemes commonly exhibit degraded performance in the presence of nonlinear hydrodynamic effects and actuator complexities. In contrast, ABPC incorporates real-time dynamic states into control formulation, thereby improving system responsiveness. This integration ensures hierarchical stability across multiple control layers and enables the controller to generate effective and proportionally scaled responses under varying operational conditions. A comprehensive six-degree-of-freedom dynamic model of a glider is developed and subsequently simplified to a pitch-dominant subsystem for control design. Numerical simulations reveal that ABPC substantially outperforms both a proportional-integral-derivative controller and an active disturbance rejection control strategy in terms of transient response and steady-state accuracy. Furthermore, indoor experimental validation using a physical glider prototype demonstrates the feasibility, robustness, and practical applicability of ABPC under real-world uncertainties. The results highlight ABPC’s potential as a high-performance solution for precise and reliable pitch regulation in underwater glider operations.