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Adaptive Control of Semi-Submersible AUV with Uncertainty in Dynamic and Hydrodynamic Parameters

Rahmani, Sobhan | 2021

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 54582 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Salarieh, Hassan; Nejat Pishkenari, Hossein
  7. Abstract:
  8. Due to the importance of recognizing the underwater and the existence of danger to human life in this environment, the use of AUVs has greatly expanded. To build and use these vehicles, we need to model dynamic behavior, and control these systems. The nonlinear dynamics of the AUV makes it difficult to use common linear controllers. On the other hand, the coefficients used in dynamic equations have uncertainty and changes, and as a result, dynamic analysis may be probably un-accurate. If the controller is designed, the controller must be self-tuning and robust to be able to withstand changes and uncertainty. Adaptive control is an approach for controlling such systems. The main idea in adaptive control is to estimate the uncertain system parameters (or modify the relevant controller parameters) based on the measured signals of the system and to use the estimated parameters in the control input calculations. In this study, an adaptive controller for a semi-submersible AUV despite uncertainty in the dynamic and hydrodynamic coefficients and also external disturbances is presented. First, a sliding mode controller for a semi-submersible AUV is presented. Then, two methods are used to estimate the uncertain parameters of the model, and finally, by combining the controller and the parameter estimator, an indirect adaptive controller is designed and applied to the AUV, and its outputs are validated. It can be concluded that the proposed adaptive controller is able to control the desired subsurface and meet the desired control objectives
  9. Keywords:
  10. Dynamic Simulation ; Parameter Estimation ; Adaptive Robust Control ; Semi-Submersible ; Autonomous Underwater Vehicle ; Dynamic Modeling

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