Abstract:
Unmanned Underwater Vehicles (UUVs) are being
deployed in advanced applications that require precise
manoeuvring close to complex underwater structures such as
oilrigs and subsea installations or moving objects such as
submarines. The effect of vehicle hydrodynamic parameter
variations is significant in such scenarios and in extreme
conditions the UUV may experience loss of control. In addition,
external disturbances present in these environments degrade the
controllability of the UUV. Adaptive control has been identified
as a promising solution that can improve the controllability in
such situations. Nevertheless, adaptive control is not widely used
within the industry mainly due to the trade-off between fast
learning and smooth control signals. The Command Governor
Adaptive Control (CGAC) has recently been proposed as a better
compromise between the two extremes. In this paper, the
performance of CGAC is investigated in the presence of
measurement noise and actuator dead-zone. Simulation results
show that that the CGAC is highly effective in retaining good
tracking performance even in the presence of significant noise
within the feedback signals and an unknown dead-zone in the
actuator.
Citation:
C. D. Makavita, H. D. Nguyen, S. G. Jayasinghe and D. Ranmuthugala, "Command Governor Adaptive Control for Unmanned Underwater Vehicles with measurement noise and actuator dead-zone," 2016 Moratuwa Engineering Research Conference (MERCon), 2016, pp. 379-384, doi: 10.1109/MERCon.2016.7480171.