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U-model based controller design for an unmanned free swimming submersible (UFSS) vehicle under hydrodynamic disturbances

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Title U-model based controller design for an unmanned free swimming submersible (UFSS) vehicle under hydrodynamic disturbances
 
Creator Abbasi, I.
Ali, S. S. A.
Ovinis, M.
Naeem, W.
 
Subject Adaptive Internal Model Control
Pitch Control
Heading Control
U-model
Underwater Robotics
 
Description 742-748
This paper presents design and implementation of the U-model based controller for controlling pitch angle and heading of an unmanned free swimming submersible vehicle. It is shown that the U-model can adaptively model dynamics of unmanned free swimming submersible and since the U-model is a control oriented scheme, a simple law based on internal model control is used to synthesize the control input. Performance of designed controller is evaluated under hydrodynamic disturbances caused by water current. Further, the performance of proposed scheme is compared with the traditional PID. Both controllers give satisfactorily performance with the U-model performing better in terms of settling time and steady state error.
 
Date 2017-04-05T10:35:26Z
2017-04-05T10:35:26Z
2017-04
 
Type Article
 
Identifier 0975-1033 (Online); 0379-5136 (Print)
http://nopr.niscair.res.in/handle/123456789/41102
 
Language en_US
 
Rights CC Attribution-Noncommercial-No Derivative Works 2.5 India
 
Publisher NISCAIR-CSIR, India
 
Source IJMS Vol.46(04) [April 2017]