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Adaptive integral feedback controller for pitch and yaw channels of an AUV with actuator saturations

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Adaptive integral feedback controller for pitch and yaw channels of an AUV with actuator saturations. / Sarhadi, Pouria; Noei, Abolfazl Ranjbar; Khosravi, Alireza.

In: ISA Transactions, Vol. 65, 11.2016, p. 284-295.

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@article{3c2895ef3eb74fa68b8b6eb52e024bd0,
title = "Adaptive integral feedback controller for pitch and yaw channels of an AUV with actuator saturations",
abstract = "Input saturations and uncertain dynamics are among the practical challenges in control of autonomous vehicles. Adaptive control is known as a proper method to deal with the uncertain dynamics of these systems. Therefore, incorporating the ability to confront with input saturation in adaptive controllers can be valuable. In this paper, an adaptive autopilot is presented for the pitch and yaw channels of an autonomous underwater vehicle (AUV) in the presence of input saturations. This will be performed by combination of a model reference adaptive control (MRAC) with integral state feedback with a modern anti-windup (AW) compensator. MRAC with integral state feedback is commonly used in autonomous vehicles. However, some proper modifications need to be taken into account in order to cope with the saturation problem. To this end, a Riccati-based anti-windup (AW) compensator is employed. The presented technique is applied to the non-linear six degrees of freedom (DOF) model of an AUV and the obtained results are compared with that of its baseline method. Several simulation scenarios are executed in the pitch and yaw channels to evaluate the controller performance. Moreover, effectiveness of proposed adaptive controller is comprehensively investigated by implementing Monte Carlo simulations. The obtained results verify the performance of proposed method.",
author = "Pouria Sarhadi and Noei, {Abolfazl Ranjbar} and Alireza Khosravi",
note = "Copyright {\textcopyright} 2016 ISA. Published by Elsevier Ltd. All rights reserved.",
year = "2016",
month = nov,
doi = "10.1016/j.isatra.2016.08.002",
language = "English",
volume = "65",
pages = "284--295",
journal = "ISA Transactions",
issn = "0019-0578",
publisher = "ISA - Instrumentation, Systems, and Automation Society",

}

RIS

TY - JOUR

T1 - Adaptive integral feedback controller for pitch and yaw channels of an AUV with actuator saturations

AU - Sarhadi, Pouria

AU - Noei, Abolfazl Ranjbar

AU - Khosravi, Alireza

N1 - Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.

PY - 2016/11

Y1 - 2016/11

N2 - Input saturations and uncertain dynamics are among the practical challenges in control of autonomous vehicles. Adaptive control is known as a proper method to deal with the uncertain dynamics of these systems. Therefore, incorporating the ability to confront with input saturation in adaptive controllers can be valuable. In this paper, an adaptive autopilot is presented for the pitch and yaw channels of an autonomous underwater vehicle (AUV) in the presence of input saturations. This will be performed by combination of a model reference adaptive control (MRAC) with integral state feedback with a modern anti-windup (AW) compensator. MRAC with integral state feedback is commonly used in autonomous vehicles. However, some proper modifications need to be taken into account in order to cope with the saturation problem. To this end, a Riccati-based anti-windup (AW) compensator is employed. The presented technique is applied to the non-linear six degrees of freedom (DOF) model of an AUV and the obtained results are compared with that of its baseline method. Several simulation scenarios are executed in the pitch and yaw channels to evaluate the controller performance. Moreover, effectiveness of proposed adaptive controller is comprehensively investigated by implementing Monte Carlo simulations. The obtained results verify the performance of proposed method.

AB - Input saturations and uncertain dynamics are among the practical challenges in control of autonomous vehicles. Adaptive control is known as a proper method to deal with the uncertain dynamics of these systems. Therefore, incorporating the ability to confront with input saturation in adaptive controllers can be valuable. In this paper, an adaptive autopilot is presented for the pitch and yaw channels of an autonomous underwater vehicle (AUV) in the presence of input saturations. This will be performed by combination of a model reference adaptive control (MRAC) with integral state feedback with a modern anti-windup (AW) compensator. MRAC with integral state feedback is commonly used in autonomous vehicles. However, some proper modifications need to be taken into account in order to cope with the saturation problem. To this end, a Riccati-based anti-windup (AW) compensator is employed. The presented technique is applied to the non-linear six degrees of freedom (DOF) model of an AUV and the obtained results are compared with that of its baseline method. Several simulation scenarios are executed in the pitch and yaw channels to evaluate the controller performance. Moreover, effectiveness of proposed adaptive controller is comprehensively investigated by implementing Monte Carlo simulations. The obtained results verify the performance of proposed method.

U2 - 10.1016/j.isatra.2016.08.002

DO - 10.1016/j.isatra.2016.08.002

M3 - Article

C2 - 27639488

VL - 65

SP - 284

EP - 295

JO - ISA Transactions

JF - ISA Transactions

SN - 0019-0578

ER -