Technical Report: Adaptive Model-Based Control for Underwater Vehicles: Theory and Experimental Evaluation in the Presence of Unmodeled Actuator Dynamics
نویسندگان
چکیده
This paper reports a comparative experimental evaluation of proportional derivative and adaptive modelbased control for underwater vehicles. To the best of the authors’ knowledge, this is the first such evaluation of modelbased adaptive tracking control for underwater vehicles during simultaneous dynamic motion in all 6 degrees-of-freedom. This experimental evaluation revealed the presence of unmodeled thruster dynamics arising during reversals of the vehicle’s thrusters, and that the unmodeled thruster dynamics can destabilize parameter adaptation. The three major contributions of this paper are: an experimental analysis of how unmodeled thruster dynamics can destabilize parameter adaptation, a twostep adaptive model-based control algorithm which is robust to the thruster modeling errors present, and a comparative experimental evaluation of adaptive model-based control and proportional derivative control for fully-actuated underwater vehicles preforming simultaneous 6 degree-of-freedom trajectory tracking.
منابع مشابه
Adaptive Robust Control for Trajectory Tracking of Autonomous underwater Vehicles on Horizontal Plane
This manuscript addresses trajectory tracking problem of autonomous underwater vehicles (AUVs) on the horizontal plane. Adaptive sliding mode control is employed in order to achieve a robust behavior against some uncertainty and ocean current disturbances, assuming that disturbance and its derivative are bounded by unknown boundary levels. The proposed approach is based on a dual layer adaptive...
متن کاملOn the Design of Nonlinear Discrete-Time Adaptive Controller for damaged Airplane
airplane in presence of asymmetric left-wing damaged. Variations of the aerodynamic parameters, mass and moments of inertia, and the center of gravity due to damage are all considered in the nonlinear mathematical modeling. The proposed discrete-time nonlinear MRAC algorithm applies the recursive least square (RLS) algorithm as a parameter estimator as well as the error between the real ...
متن کاملCoordinated Control of a Tractor-Trailer and a Combine Harvester by Neural Adaptive Robust Control
In this paper, the coordinated control problem of a tractor-trailer and a combine harvester is taken into account in the presence of model uncertainties by using the leader-following approach to track a reference trajectory for the first time. At first, a second-order leader-follower dynamic model is developed in Euler-Lagrange form which preserves all structural properties of the dynamic model...
متن کاملDirect adaptive fuzzy control of flexible-joint robots including actuator dynamics using particle swarm optimization
In this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. The design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a PID control law. One novelty of this paper is the use of a PSO algorithm for optimizing the contro...
متن کاملThe Effect of Model Accuracy and Thruster Saturation on Tracking Performance of Model Based Controllers for Underwater Robotic Vehicles: Experimental Results
This paper reports an experimental investigation of the effect of two specific errors on a class of model based controllers for the low-speed maneuvering of fully actuated underwater vehicles. First, we review previously reported studies and a commonly accepted simplified plant model that has been experimentally validated for this class of vehicles. Second, we review a family of associated mode...
متن کامل