This paper reports a comparative experimental evaluation of proportional derivative and adaptive model-based control for underwater vehicles. To the best of the authors' knowledge, this is the first such evaluation of model-based adaptive tracking control for underwater vehicles during simultaneous dynamic motion in all 6 degrees-of-freedom. This experimental evaluation revealed the presence of unmodeled thruster dynamics arising during reversals of the vehicle's thrusters, and that the unmodeled thruster dynamics can destabilize parameter adaptation. The three major contributions of this paper are: an experimental analysis of how unmodeled thruster dynamics can destabilize parameter adaptation, a two-step adaptive model-based control algorithm which is robust to the thruster modeling errors present, and a comparative experimental evaluation of adaptive model-based control and proportional derivative control for fully-actuated underwater vehicles preforming simultaneous 6 degree-of-freedom trajectory tracking.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Experimental evaluation of adaptive model-based control for underwater vehicles in the presence of unmodeled actuator dynamics


    Contributors:


    Publication date :

    2014-05-01


    Size :

    1961721 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Robust Adaptive Control in the Presence of Unmodeled Actuator Dynamics

    Boskovic, Jovan / Jackson, Joseph A. / Mehra, Raman | AIAA | 2013


    Robust Adaptive Control in the Presence of Unmodeled Actuator Dynamics (AIAA 2013-5194)

    Boskovic, J. / Jackson, J.A. / Mehra, R. et al. | British Library Conference Proceedings | 2013


    Output Feedback Adaptive Control in the Presence of Unmodeled Dynamics

    Chandramohan, Rajeev / Calise, Anthony J. | AIAA | 2013


    Output Feedback Adaptive Control in the Presence of Unmodeled Dynamics (AIAA 2013-4517)

    Chandramohan, R. / Calise, A.J. / American Institute of Aeronautics and Astronautics | British Library Conference Proceedings | 2013


    Experimental Validation of a Metrics Driven L1 Adaptive Control in the Presence of Generalized Unmodeled Dynamics

    Kitsios, Ioannis / Dobrokhodov, Vladimir / Kaminer, Isaac et al. | AIAA | 2009