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Experimental comparison of two composite MRAC methods for UUV operations with low adaptation gains


Makavita, CD and Jayasinghe, SG and Nguyen, HD and Ranmuthugala, D, Experimental comparison of two composite MRAC methods for UUV operations with low adaptation gains, IEEE Journal of Oceanic Engineering pp. 1-20. ISSN 0364-9059 (2018) [Refereed Article]

Copyright Statement

© 2018 IEEE.

DOI: doi:10.1109/JOE.2018.2869508


In today’s underwater environment, complex missions, such as underwater repair and docking operations, require precise control to maneuver unmanned underwater vehicles (UUVs) in extremely demanding operating conditions. Although numerous control methodologies have been used for UUVs, adaptive control is considered a promising solution due to its inherent ability to adapt to uncertainty and parameter variations. Nevertheless, it is handicapped by the tradeoff between low adaptive gains and tracking performance. Low gains are preferred to maintain stability and obtain smooth control signals. However, the resulting tracking performance, especially during transients operations, does not allow for precise maneuvering. A possible solution is model reference adaptive control (MRAC) with composite adaptation modification, which uses a prediction error in addition to the tracking error to improve learning without increasing the adaptive gains. Even though this is not a new modification to adaptive control, there is little evidence in the public domain of extensive experimental validations and quantitative analysis under low adaptive gains, especially for underwater operations. Furthermore, newer versions, such as composite MRAC (CMRAC) and predictor-based MRAC (PMRAC), offer several additional advantages. In previous publications, the authors have verified CMRAC and PMRAC for UUVs through computer simulations. Thus, this paper focuses on the experimental validation of CMRAC and PMRAC fitted to a UUV, comparing their performance under normal operations, partial thruster failure, and external disturbances. The results indicate that, while both CMRAC and PMRAC show improvements over MRAC, PMRAC has a substantial advantage over CMRAC and is recommended for future UUV applications.

Item Details

Item Type:Refereed Article
Keywords:adaptive control, composite model reference adaptive control (MRAC), external disturbance, predictor-based MRAC, thruster failure, unmanned underwater vehicle (UUV)
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:130597
Year Published:2018
Deposited By:Seafaring
Deposited On:2019-02-05
Last Modified:2019-05-13

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