Control parameter optimization of underwater gliders with uncertainty using hierarchical optimization method and interval analysis theory

This article attempts to solve the engineering optimization problem for control parameter configuration of underwater gliders with parameter uncertainty. The optimization objectives are maximizing the glider energy utilization rate and average voyage velocity; design variables include the net buoyancy adjustment amount and movable mass block translation amount; and uncertain parameters include the glider control parameter errors, manufacturing errors and sensor measurement errors. First, a dynamic simulation-based performance evaluation model of the glider is established, and interval number order theory is used to quantify the uncertainty. Then, surrogate models of the performance evaluation model are established, and the Sobol' method-based sensitivity analysis is executed to identify the key uncertain parameters. Thus, a hierarchical optimization framework is introduced, and its system level and sub-level are used for determining optimal control parameter values and performance evaluation parameter intervals, respectively. Finally, optimization calculation is executed under different parameter configurations, and some rules are summarized.