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Command governor adaptive control for unmanned underwater vehicles with measurement noise and actuator dead-zone
conference contribution
posted on 2023-05-23, 11:11 authored by Makavita, CD, Hung NguyenHung Nguyen, Shantha Jayasinghe Arachchillage, Susantha RanmuthugalaSusantha RanmuthugalaUnmanned Underwater Vehicles (UUVs) are being deployed in advanced applications that require precise manoeuvring close to complex underwater structures such as oilrigs and subsea installations or moving objects such as submarines. The effect of vehicle hydrodynamic parameter variations is significant in such scenarios and in extreme conditions the UUV may experience loss of control. In addition, external disturbances present in these environments degrade the controllability of the UUV. Adaptive control has been identified as a promising solution that can improve the controllability in such situations. Nevertheless, adaptive control is not widely used within the industry mainly due to the trade-off between fast learning and smooth control signals. The Command Governor Adaptive Control (CGAC) has recently been proposed as a better compromise between the two extremes. In this paper, the performance of CGAC is investigated in the presence of measurement noise and actuator dead-zone. Simulation results show that that the CGAC is highly effective in retaining good tracking performance even in the presence of significant noise within the feedback signals and an unknown dead-zone in the actuator.
History
Publication title
Proceedings of the 2016 Moratuwa Engineering Research Conference (MERCon)Editors
AG Buddhika P Jayasekara, HMN Dilum Bandara, YW Ranjith AmarasinghePagination
379-384ISBN
9781509006458Department/School
Australian Maritime CollegePublisher
University of Moratuwa, Moratuwa, Sri LankaPlace of publication
Moratuwa, Sri LankaEvent title
MERCon 2016: Moratuwa Engineering Research ConferenceEvent Venue
Moratuwa, Sri LankaDate of Event (Start Date)
2016-04-05Date of Event (End Date)
2016-04-06Rights statement
Copyright 2016 IEEERepository Status
- Restricted