Robust adaptive control of autonomous underwater vehicle

2005 ◽  
Author(s):  
Y. Zhang ◽  
H.H. Chen ◽  
X.S. Feng
Keyword(s):  
Adaptive Control ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Robust Adaptive Control ◽  
Robust Adaptive

Robust Adaptive Tracking Control of Autonomous Underwater Vehicle-Manipulator Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Mohan Santhakumar ◽  
Jinwhan Kim
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.

scholarly journals Robust Adaptive Depth Control of Hybrid Underwater Glider in Vertical Plane

2020 ◽  
Vol 5 (3) ◽  
pp. 135-146
Author(s):  
Ngoc-Duc Nguyen ◽  
Hyeung-Sik Choi ◽  
Han-Sol Jin ◽  
Jiafeng Huang ◽  
Jae-Heon Lee
Keyword(s):  
Adaptive Control ◽  
Autonomous Underwater Vehicle ◽  
Vertical Plane ◽  
Robust Adaptive Control ◽  
Underwater Glider ◽  
Parameter Uncertainties ◽  
Sustainable Operations ◽  
Pitch Control ◽  
Direct Adaptive Control ◽  
Robust Adaptive

Hybrid underwater glider (HUG) is an advanced autonomous underwater vehicle with propellers capable of sustainable operations for many months. Under the underwater disturbances and parameter uncertainties, it is difficult that the HUG coordinates with the desired depth in a robust manner. In this study, a robust adaptive control algorithm for the HUG is proposed. In the descend and ascend periods, the pitch control is designed using backstepping technique and direct adaptive control. When the vehicle approaches the target depth, the surge speed control using adaptive control combined with the pitch control is used to keep the vehicle at the desired depth with a constant cruising speed in the presence of the disturbances. The stability of the proposed controller is verified by using the Lyapunov theorem. Finally, the computer simulation using the numerical method is conducted to show the effectiveness of the proposed controller for a hybrid underwater glider system.

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