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Appl. Sci. 2018, 8(2), 253; doi:10.3390/app8020253

Pitch Channel Control of a REMUS AUV with Input Saturation and Coupling Disturbances

1,2
,
1,2,* , 1,2
,
1,2
and
3
1
State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
2
School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
3
College of Engineering, Ocean University of China, Qingdao 266100, China
*
Author to whom correspondence should be addressed.
Received: 2 January 2018 / Revised: 3 February 2018 / Accepted: 6 February 2018 / Published: 8 February 2018
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Abstract

The motion of an underwater vehicle is prone to be affected by time-varying model parameters and the actuator limitation in control practice. Adaptive control is an effective method to deal with the general system dynamic uncertainties and disturbances. However, the effect of disturbances control on transient dynamics is not prominent. In this paper, we redesign the L 1 adaptive control architecture (L1AC) with anti-windup (AW) compensator to guarantee robust and fast adaption of the underwater vehicle with input saturation and coupling disturbances. To reduce the fluctuation of vehicle states, the Riccati-based AW compensator is utilized to compensate the output signal from L1AC controller via taking proper modification. The proposed method is applied to the pitch channel of REMUS vehicle’s six Degrees Of Freedom (DOF) model with strong nonlinearities and compared with L1AC baseline controller. Simulations show the effectiveness of the proposed control strategy compared to the original L1AC. Besides, the fluctuation in roll channel coupled with pitch channel is suppressed according to the performances of control tests. View Full-Text
Keywords: Autonomous Underwater Vehicle (AUV); L1 adaptive control; anti-windup (AW) compensator; uncertainty; coupling disturbances Autonomous Underwater Vehicle (AUV); L1 adaptive control; anti-windup (AW) compensator; uncertainty; coupling disturbances
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This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. (CC BY 4.0).

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MDPI and ACS Style

Wu, N.; Wu, C.; Ge, T.; Yang, D.; Yang, R. Pitch Channel Control of a REMUS AUV with Input Saturation and Coupling Disturbances. Appl. Sci. 2018, 8, 253.

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