Composite model reference adaptive control for an unmanned underwater vehicle
The control of unmanned underwater vehicles (UUVs) is challenging due to the non-linear and time-varying nature of the hydrodynamic forces from the surrounding fluid. In addition, the presence of external disturbances makes the control even more difficult. Model reference adaptive control
(MRAC) is an adaptive control technique that performs well in such situations, while the improved composite/combined model reference adaptive control (CMRAC) is capable of better transient performance. However, the latter is yet to be used in UUV controls. Thus, this paper tests the suitability
of CMRAC in UUV applications using validated simulation models and compares its performance against the standard MRAC. Several test scenarios have been considered including initial operation, external disturbance and thruster failure. Simulation results show that CMRAC offers better tracking,
faster disturbance rejection and quick recovery from thruster failure compared to MRAC. In addition, CMRAC is more robust against parameter uncertainties and thus the control signal shows fewer oscillations, which in turn reduces the probability of actuator damage.
Keywords: COMPOSITE/COMBINED MODEL REFERENCE ADAPTIVE CONTROL; EXTERNAL DISTURBANCES; REMOTELY OPERATED VEHICLE; ROV; THRUSTER FAILURE; UNMANNED UNDERWATER VEHICLES; UUV
Document Type: Research Article
Publication date: 01 November 2015
- Underwater Technology is the peer-reviewed international journal of the Society for Underwater Technology. The objectives of the journal are to inform and acquaint the Society's members and other readers with current views and new developments in the broad areas of underwater technology, ocean science and offshore engineering.
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