{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T06:17:42Z","timestamp":1777702662673,"version":"3.51.4"},"reference-count":15,"publisher":"SAGE Publications","issue":"2","license":[{"start":{"date-parts":[[2019,2,6]],"date-time":"2019-02-06T00:00:00Z","timestamp":1549411200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["Journal of Intelligent &amp; Fuzzy Systems"],"published-print":{"date-parts":[[2019,3,16]]},"abstract":"<jats:p>\n                    The underwater glider (UG) is an underwater exploration equipment that propels itself with very low power consumption by converting the vertical motion into a horizontal motion using a buoyancy control device and a wing. To enhance gliding performance of the UG, a hybrid underwater glider (HUG) has been developed to compensate for the disadvantages of slow speed and horizontal movement and limited navigation accuracy of the UG by attaching propellant to the UG [\n                    <jats:xref ref-type=\"bibr\">15<\/jats:xref>\n                    ].\n                  <\/jats:p>\n                  <jats:p>In this paper, the structure, control system and control algorithm of the HUG are presented. Also, for the developed HUG, motion performance of the HUG is simulated by computer. To realize precise navigation of the developed HUG, an attitude reference system (ARS) composed of a ring laser gyroscope(RLG) and a geomagnetic sensor is developed with the Extended Kalman Filter (EKF) algorithm.<\/jats:p>\n                  <jats:p>\n                    To control the HUG, the six degrees of freedom equations of the HUG with the hydrodynamic force coefficient were studied. A control algorithm based on the neural network was proposed to reduce tracking error of the HUG. To validate the proposed control algorithm, a computer simulation using Matlab \/ Simulink was performed [\n                    <jats:xref ref-type=\"bibr\">13<\/jats:xref>\n                    ].\n                  <\/jats:p>","DOI":"10.3233\/jifs-169881","type":"journal-article","created":{"date-parts":[[2019,2,8]],"date-time":"2019-02-08T11:35:15Z","timestamp":1549625715000},"page":"1057-1072","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":3,"title":["Design and control of navigation system for hybrid underwater glider"],"prefix":"10.1177","volume":"36","author":[{"given":"Sang-Ki","family":"Jeong","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Korea Maritime and Ocean University, Busan, South Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hyeung-Sik","family":"Choi","sequence":"additional","affiliation":[{"name":"Division of Mechanical Engineering, Korea Maritime and Ocean University, Busan, South Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jin-Il","family":"Kang","sequence":"additional","affiliation":[{"name":"Division o3Ocean Science and Technology School, KIOST-KMOU"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ji-Youn","family":"Oh","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Korea Maritime and Ocean University, Busan, South Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Seo-Kang","family":"Kim","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Korea Maritime and Ocean University, Busan, South Korea"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Thieu Quang","family":"Minh Nhat","sequence":"additional","affiliation":[{"name":"Division o3Ocean Science and Technology School, KIOST-KMOU"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2019,2,6]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.arcontrol.2011.03.008"},{"key":"e_1_3_2_3_2","doi-asserted-by":"publisher","DOI":"10.1016\/j.automatica.2007.10.006"},{"key":"e_1_3_2_4_2","doi-asserted-by":"publisher","DOI":"10.1109\/87.880599"},{"key":"e_1_3_2_5_2","first-page":"1","article-title":"Underwater glider dynamics and control","author":"Graver J.","year":"2001","unstructured":"J.Graver and N.E.Leonard, Underwater glider dynamics and control, 12th International Symposium on Unmanned Untethered Submersible Technology, Durham, 2001, pp. 1\u201314.","journal-title":"12th International Symposium on Unmanned Untethered Submersible Technology"},{"key":"e_1_3_2_6_2","doi-asserted-by":"publisher","DOI":"10.1109\/JOE.2006.880429"},{"key":"e_1_3_2_7_2","doi-asserted-by":"publisher","DOI":"10.1007\/s11802-008-0113-2"},{"issue":"4","key":"e_1_3_2_8_2","first-page":"633","article-title":"Model-based feedback control of autonomous underwater gliders","volume":"26","author":"Leonard N.E.","year":"2001","unstructured":"N.E.Leonard and J.G.Graver, Model-based feedback control of autonomous underwater gliders, IEEE Journal of Oceanic Engineering, Special Issue on Autonomous Ocean Sampling Networks 26(4) (2001), 633\u2013645.","journal-title":"IEEE Journal of Oceanic Engineering, Special Issue on Autonomous Ocean Sampling Networks"},{"issue":"1","key":"e_1_3_2_9_2","first-page":"137","article-title":"Resolving actuator redundancy-optimal control vs","volume":"41","author":"Harkegard O.","year":"2005","unstructured":"O.Harkegard and S.Torkel Glad, Resolving actuator redundancy-optimal control vs, Control Allocation, Automatica 41(1) (2005), 137\u2013144.","journal-title":"Control Allocation, Automatica"},{"key":"e_1_3_2_10_2","first-page":"1","article-title":"Pitching control simulations of an underwater glider using CFD analysis","author":"Seo D.C.","year":"2008","unstructured":"D.C.Seo, G.N.Jo and H.S.Choi, Pitching control simulations of an underwater glider using CFD analysis, OCEANS 2008 - 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