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Abstract

In today’s underwater environment, complex missions,such as underwater repair and docking operations, requireprecise control to maneuver unmanned underwater vehicles(UUVs) in extremely demanding operating conditions. Althoughnumerous control methodologies have been used for UUVs, adaptivecontrol is considered a promising solution due to its inherentability to adapt to uncertainty and parameter variations. Nevertheless,it is handicapped by the tradeoff between low adaptivegains and tracking performance. Low gains are preferred to maintainstability and obtain smooth control signals. However, the resultingtracking performance, especially during transients operations,does not allow for precise maneuvering. A possible solution ismodel reference adaptive control (MRAC) with composite adaptationmodification, which uses a prediction error in addition to thetracking error to improve learning without increasing the adaptivegains. Even though this is not a new modification to adaptive control,there is little evidence in the public domain of extensive experimentalvalidations and quantitative analysis under low adaptivegains, especially for underwater operations. Furthermore, newerversions, such as composite MRAC (CMRAC) and predictor-basedMRAC (PMRAC), offer several additional advantages. In previouspublications, the authors have verified CMRAC and PMRACfor UUVs through computer simulations. Thus, this paper focuseson the experimental validation of CMRAC and PMRAC fitted toa UUV, comparing their performance under normal operations,partial thruster failure, and external disturbances. The results indicatethat, while both CMRAC and PMRAC show improvementsover MRAC, PMRAC has a substantial advantage over CMRACand is recommended for future UUV applications.

Item Type:	Article
Authors/Creators:	Makavita, CD and Jayasinghe, SG and Nguyen, HD and Ranmuthugala, D
Keywords:	adaptive control, composite model reference adaptive control (MRAC), external disturbance, predictor-based MRAC, thruster failure, unmanned underwater vehicle (UUV)
Journal or Publication Title:	IEEE Journal of Oceanic Engineering
Publisher:	Ieee-Inst Electrical Electronics Engineers Inc
ISSN:	0364-9059
DOI / ID Number:	https://doi.org/10.1109/JOE.2018.2869508
Copyright Information:	© 2018 IEEE.
Related URLs:	Google Scholar: Nguyen, HD UTAS Profile: Nguyen, HD
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