Motion Control of Small Autonomous Underwater Vehicle in Presence of Parameters Uncertainties-Reference-Cited by-同舟云学术

Motion Control of Small Autonomous Underwater Vehicle in Presence of Parameters Uncertainties

Published:2020-12-04 Issue: Volume:14 Page:888-902
ISSN:1998-4464
Container-title:International Journal of Circuits, Systems and Signal Processing
language:en
Short-container-title:

Author:

Garus Jerzy¹,Giergiel Mariusz²

Affiliation:

1. Faculty of Mechanical and Electrical Engineering, Polish Naval Academy 81-103 Gdynia, Smidowicza 69, POLAND

2. Faculty of Mechanical Engineering and Robotics, AGH University of Science and Technology 30-059 Krakow, Al. Mickiewicza 30 POLAND

Abstract

A dynamic model of the underwater vehicle is usually established with parameters uncertainties due to the non-linear and time-varying nature of hydrodynamic forces from the surrounding fluid and external environmental disturbances. The paper investigates the motion control problem of the vehicle in tridimensional space based on model reference adaptive control. A developed autopilot consists of three independent controllers with a parameter adaptation law implemented. A control performance is guaranteed by suitably choosing design parameters. The effectiveness and robustness of the proposed control scheme for trajectory tracking in surge, depth and yaw dynamics is tested through simulations studies.

Publisher

North Atlantic University Union (NAUN)

Subject

Electrical and Electronic Engineering,Signal Processing

Reference17 articles.

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5. J. Garus, Model Reference Adaptive Control of Underwater Robot in Spatial Motion. In Modelling Dynamics in Process and Systems, W. Mitkowski and J. Kacprzyk (Eds.), Springer-Verlag, Berlin Heildelberg 2009, pp. 71-83.