Development of Indirect Adaptive Control for Underwater Vehicles Using Nonlinear Estimator of Disturbances

Abstract

In this paper, authors propose a new method of disturbance estimation that can be used for marine and air vehicles. As stability area for nonlinear systems is connected with performance of estimation, indirect measurement is proposed to estimate the error. The base for calculation is vehicle accelerations provided by navigation system. New algorithms were tested in simulation for which authors developed a block diagram of indirect adaptive control system that features independence of estimator from controller. Analysis of results showed that the error of the developed estimator in transient mode is 30-40% less than error of the linear estimator. In steady state mode, gain of the proposed estimator is equal to gain of the linear estimator and output noise is the same. Simulated system was implemented in mini motor boat, and showed good results in experiment. New estimator allowed to increase the accuracy of moving along the paths.

A hydrodynamic calculation procedure for UV using CFD

“…The error of approximation for different degrees of the polynomial is provided in Table I. Here one can note that SSE 3 and RMSE 3 are considerably (one order) higher than the SSE 4 and RMSE 4 . Therefore, in accordance with the algorithm in Fig.…”

“…An adequate mathematical model of underwater vehicle (UV) is required for the synthesis of its control system [1][2][3][4][5][6][7]. The mathematical model, used in this paper, was developed using general and specific laws of nature.…”

Decentralized Control of a Group of Homogeneous Vehicles in Obstructed Environment

“…The control algorithm for th vehicle (13), (14) contains data about its own position and speed , sensory system data about the coordinates −1 , +1 , and speedṡ− 1 ,̇+ 1 of the neighboring robots. The speedṡ− 1 ,̇+ 1 and positions −1 , +1 of the neighboring vehicles are measured or estimated using the algorithms presented in [21,22].…”

Design of Robust Control for Block Nonlinear Systems by Lyapunov Functions Method

“…On fig. 3 V x2 , V y2 , and V z2 are airship speeds in indirect adaptive control system [17] with constant disturbance model:…”