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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
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 |
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Keywords: | ROV, Adaptive Control System |
Research Division: | Engineering |
Research Group: | Maritime engineering |
Research Field: | Ship and platform structures (incl. maritime hydrodynamics) |
Objective Division: | Manufacturing |
Objective Group: | Computer, electronic and communication equipment |
Objective Field: | Computer, electronic and communication equipment not elsewhere classified |
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: | 104480 |
Year Published: | 2015 |
Web of Science® Times Cited: | 8 |
Deposited By: | Seafaring |
Deposited On: | 2015-11-12 |
Last Modified: | 2016-03-07 |
Downloads: | 192 View Download Statistics |
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