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Command governor adaptive control for an unmanned underwater vehicle


Makavita, CD and Nguyen, HD and Ranmuthugala, D and Jayasinghe, SG, Command governor adaptive control for an unmanned underwater vehicle, 2015 IEEE Conference on Control and Applications (CCA 2015) Proceedings, 21-23 September, Novotel Sydney Manly Pacific, pp. 1096-1102. ISBN 978-1-4799-7787-1 (2015) [Refereed Conference Paper]

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Copyright 2015 IEEE

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DOI: doi:10.1109/CCA.2015.7320759


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.

Item Details

Item Type:Refereed Conference Paper
Keywords:adaptive control,command governor,unmanned underwater vehicle
Research Division:Engineering
Research Group:Control engineering, mechatronics and robotics
Research Field:Field robotics
Objective Division:Expanding Knowledge
Objective Group:Expanding knowledge
Objective Field:Expanding knowledge in engineering
UTAS Author:Makavita, CD (Mr Charita Makavita)
UTAS Author:Nguyen, HD (Dr Hung Nguyen)
UTAS Author:Ranmuthugala, D (Professor Dev Ranmuthugala)
UTAS Author:Jayasinghe, SG (Dr Shantha Jayasinghe Arachchillage)
ID Code:104163
Year Published:2015
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2015-11-03
Last Modified:2018-04-05

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