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Experimental study of a modified command governor adaptive controller for depth control of an unmanned underwater vehicle


Makavita, CD and Jayasinghe, SG and Nguyen, HD and Ranmuthugala, D, Experimental study of a modified command governor adaptive controller for depth control of an unmanned underwater vehicle, Journal of Marine Science and Application, 20, (3) pp. 504-523. ISSN 1671-9433 (2021) [Refereed Article]

Copyright Statement

Harbin Engineering University and Springer-Verlag GmbH Germany, part of Springer Nature 2021.

DOI: doi:10.1007/s11804-021-00225-y


Command governor based adaptive control (CGAC) is a recent control strategy that has been explored as a possible candidate for the challenging task of precise maneuvering of unmanned underwater vehicles (UUVs) with parameter variations. CGAC is derived from standard model reference adaptive control (MRAC) by adding a command governor that guarantees acceptable transient performance without compromising stability and a command filter that improves the robustness against noise and time delay. Although simulation and experimental studies have shown substantial overall performance improvements of CGAC over MRAC for UUVs, it has also shown that the command filter leads to a marked reduction in initial tracking performance of CGAC. As a solution, this paper proposes the replacement of the command filter by a weight filter to improve the initial tracking performance without compromising robustness and the addition of a closed-loop state predictor to further improve the overall tracking performance. The new modified CGAC (M-CGAC) has been experimentally validated and the results indicate that it successfully mitigates the initial tracking performance reduction, significantly improves the overall tracking performance, uses less control force, and increases the robustness to noise and time delay. Thus, M-CGAC is a viable adaptive control algorithm for current and future UUV applications.

Item Details

Item Type:Refereed Article
Keywords:Command governor adaptive control, measurement noise, time delay, transient tracking, unmanned underwater vehicles, robustness
Research Division:Engineering
Research Group:Maritime engineering
Research Field:Marine engineering
Objective Division:Environmental Management
Objective Group:Marine systems and management
Objective Field:Marine systems and management not elsewhere classified
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:152287
Year Published:2021
Deposited By:Information and Communication Technology
Deposited On:2022-08-16
Last Modified:2022-09-15

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