Pitch Channel Control of a REMUS AUV with Input Saturation and Coupling Disturbances
State Key Laboratory of Ocean Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China
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
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
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.
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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.
Wu N, Wu C, Ge T, Yang D, Yang R. Pitch Channel Control of a REMUS AUV with Input Saturation and Coupling Disturbances. Applied Sciences. 2018; 8(2):253.
Wu, Nailong; Wu, Chao; Ge, Tong; Yang, Deqing; Yang, Rui. 2018. "Pitch Channel Control of a REMUS AUV with Input Saturation and Coupling Disturbances." Appl. Sci. 8, no. 2: 253.
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