Imagen de Portada

Adaptive path-following control for high-underactuated underwater glider under hydrodynamic coefficient uncertainties

Guardado en:
Publicado en:Journal of Marine Science and Technology vol. 29, no. 4 (Dec 2024), p. 1000
Autor principal: Hasanvand, Ali
Otros Autores: Seif, Mohammad Saeed
Publicado:
Springer Nature B.V.
Materias:
Proportional integral derivative
Hydrodynamic coefficients
Hydrodynamics
Control systems
Power consumption
Mathematical models
Motion control
Adaptive control
Uncertainty
Smart structures
Data collection
Vehicles
Autonomous underwater vehicles
Energy consumption
Monte Carlo simulation
Control theory
Control algorithms
Coordinate transformations
Underwater gliders
Controllers
Underwater vehicles
Actuators
Underwater
Underwater robots
Environmental
Acceso en línea:Citation/Abstract
Full Text
Full Text - PDF
Etiquetas: Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
Resumen:Underwater gliders (UGs) play a prominent role in collecting data within a specific underwater depth range. Due to the unmanned nature of these vehicles, the path-following control significantly influences their other systems and energy consumption. In this study, the performance of the path-following control was improved under hydrodynamic coefficient uncertainties using the adaptive control structure. The main control system, using the adaption law, autonomously updates itself to mitigate the adverse effects of uncertainties. The stability of the control law was proven through the utilization of a Lyapunov-function candidate. In the study, we take into account uncertainties in hydrodynamic coefficients, actuators, and position and orientation estimation. The impact of uncertainties on performance was investigated using the Monte Carlo simulation technique, which stochastically selected parameters. The results ultimately demonstrate that the uncertainties adversely affect the control of states. However, the adaptive structure exhibits robust performance compared to traditional controllers such as PID and LQR controllers with fixed gains. The adaptive path-following control structure reduced actuator usage, leading to decreased power consumption by the controller. Furthermore, the proposed structure was involved in an experimental case study, which was tested in a pool to validate its performance.
ISSN:0948-4280
1437-8213
DOI:10.1007/s00773-024-01032-0
Fuente:Science Database