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Composite model reference adaptive control for an unmanned underwater vehicle

Citation

Makavita, CD and Nguyen, HD and Ranmuthugala, D and Jayasinghe, SG, Composite model reference adaptive control for an unmanned underwater vehicle, Underwater Technology, 33, (2) pp. 81-93. ISSN 1756-0543 (2015) [Refereed Article]


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Copyright Statement

Copyright 2015 The Authors

DOI: doi:10.3723/ut.33.081

Abstract

The control of unmanned underwater vehicles (UUVs) is challenging due to the non-linear and time-varying nature of the hydrodynamic forces from the surrounding fluid. In addition, the presence of external disturbances makes the control even more difficult. Model reference adaptive control (MRAC) is an adaptive control technique that performs well in such situations, while the improved composite/combined model reference adaptive control (CMRAC) is capable of better transient performance. However, the latter is yet to be used in UUV controls. Thus, this paper tests the suitability of CMRAC in UUV applications using validated simulation models and compares its performance against the standard MRAC. Several test scenarios have been considered including initial operation, external disturbance and thruster failure. Simulation results show that CMRAC offers better tracking, faster disturbance rejection and quick recovery from thruster failure compared to MRAC. In addition, CMRAC is more robust against parameter uncertainties and thus the control signal shows fewer oscillations, which in turn reduces the probability of actuator damage.

Item Details

Item Type:Refereed Article
Keywords:ROV, Adaptive Control System
Research Division:Engineering
Research Group:Maritime Engineering
Research Field:Ship and Platform Hydrodynamics
Objective Division:Manufacturing
Objective Group:Computer Hardware and Electronic Equipment
Objective Field:Computer Hardware and Electronic Equipment not elsewhere classified
Author:Makavita, CD (Mr Charita Makavita)
Author:Nguyen, HD (Dr Hung Nguyen)
Author:Ranmuthugala, D (Professor Dev Ranmuthugala)
Author:Jayasinghe, SG (Dr Shantha Jayasinghe Arachchillage)
ID Code:104480
Year Published:2015
Web of Science® Times Cited:4
Deposited By:Seafaring
Deposited On:2015-11-12
Last Modified:2016-03-07
Downloads:77 View Download Statistics

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