Open AccessMotion Control of Small Autonomous Underwater Vehicle in Presence of Parameters Uncertainties
Author(s) -
Jerzy Garus,
Mariusz Giergiel
Publication year - 2020
Publication title -
international journal of circuits, systems and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.156
H-Index - 13
ISSN - 1998-4464
DOI - 10.46300/9106.2020.14.115
Subject(s) - control theory (sociology) , autopilot , robustness (evolution) , underwater , vehicle dynamics , trajectory , motion control , computer science , adaptive control , yaw , robust control , control engineering , engineering , control system , control (management) , physics , aerospace engineering , robot , biochemistry , chemistry , oceanography , electrical engineering , artificial intelligence , astronomy , gene , geology
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.