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Command governor adaptive control for an unmanned underwater vehicle

conference contribution
posted on 2023-05-23, 10:30 authored by Makavita, CD, Hung NguyenHung Nguyen, Susantha RanmuthugalaSusantha Ranmuthugala, Shantha Jayasinghe Arachchillage
This paper presents the design and simulation of a command governor based adaptive controller (CGAC) for a remotely operated underwater vehicle. The command governor modification is applied for the first time to an underwater vehicle simulation of the actual vehicle for improved transient performance and disturbance rejection. The vehicle dynamics are assumed to be decoupled thus allowing for the design of separate heading and depth controllers. The results show that in contrast to standard adaptive controllers, command governor based adaptive controllers are able to produce better transient performance as well as improve the overall response even at low learning rates. Furthermore, simulation results verify the disturbance rejection capability of the command governor based adaptive controller, which is necessary to effectively and safely operate an unmanned underwater vehicle in real environments.

History

Publication title

2015 IEEE Conference on Control and Applications (CCA 2015) Proceedings

Editors

V Sreeram

Pagination

1096-1102

ISBN

978-1-4799-7787-1

Department/School

Australian Maritime College

Publisher

Institute of Electrical and Electronics Engineers

Place of publication

Sydney, Australia

Event title

2015 IEEE Control Systems Society Multiconference on systems and control

Event Venue

Novotel Sydney Manly Pacific

Date of Event (Start Date)

2015-09-21

Date of Event (End Date)

2015-09-23

Rights statement

Copyright 2015 IEEE

Repository Status

  • Restricted

Socio-economic Objectives

Expanding knowledge in engineering

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