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Experimental study of command governor adaptive control for unmanned underwater vehicles


Makavita, CD and Jayasinghe, SG and Nguyen, HD and Ranmuthugala, D, Experimental study of command governor adaptive control for unmanned underwater vehicles, I E E E Transactions on Control Systems Technology pp. 1-14. ISSN 1063-6536 (2017) [Refereed Article]

Copyright Statement

2017 IEEE

DOI: doi:10.1109/TCST.2017.2757021


The control of unmanned underwater vehicles (UUV) is a complex problem mainly due to the nonlinear dynamics, uncertainty in model parameters, and external disturbances. Adaptive control is a promising solution to address these issues. Nevertheless, its full potential is yet to be realized, especially in underwater vehicle applications, mainly due to the compromise between the transient performance and a smooth control signal. The addition of a new command governor with standard model reference adaptive control (MRAC) named as a command governor adaptive control (CGAC) has been proposed as a promising solution to this trade-off. Nevertheless, the suitability of CGAC in underwater vehicle applications and its performance are yet to be verified. This paper fills this knowledge gap and experimentally validates the suitability and performance of CGAC in underwater vehicle applications. The standard MRAC is used as the baseline for performance comparison. Experimental results showed that CGAC achieves a low frequency control signal through low gain values and improves transient performance through modifications to the command signal. In addition, the ability of CGAC to overcome disturbances such as tether forces, and tolerate faults such as partial thruster failure was confirmed. Another interesting feature observed in these experiments is the ability of CGAC to operate despite the thruster dead zone, which standard MRAC is unable to perform without a dead-zone inverse. Therefore, according to the results CGAC performs better than standard MRAC and thus is a promising solution for future underwater vehicle applications.

Item Details

Item Type:Refereed Article
Keywords:adaptive control, unmanned underwater vehicles, autonomous underwater vehicles (AUVs), command governor adaptive control (CGAC), disturbance rejection, model reference adaptive control (MRAC), remotely operated vehicle (ROV), thruster dead zone
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:Jayasinghe, SG (Dr Shantha Jayasinghe Arachchillage)
UTAS Author:Nguyen, HD (Dr Hung Nguyen)
UTAS Author:Ranmuthugala, D (Professor Dev Ranmuthugala)
ID Code:122271
Year Published:2017
Deposited By:NC Maritime Engineering and Hydrodynamics
Deposited On:2017-11-08
Last Modified:2018-05-02

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