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Enhancing Performance of Intelligent Path-Following Control for an Underwater Glider

Hasanvand, Ali | 2024

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57205 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Seif, Mohammad Saeed
  7. Abstract:
  8. Efficient path-following control is essential for the exploitation of underwater resources, providing the ability to track predefined positions. Control, guidance, and navigation (GNC) serve as a common subject for marine vehicles. In this study, the aim is the development of an adaptive path-following control system for an underwater glider (UG), considering uncertainty parameters through GNC-based techniques. Uncertainty parameters within navigation, guidance, and control simulations can lead to instability in the control system. Uncertainty parameters in this method include some factors in the GNC loop such as hydrodynamic coefficients, sensor errors, biases, noise, and actuator errors. Hence, this research focuses on developing an adaptive path-following control to enhance performance. A six-DOF non-linear dynamic model is employed to improve the quality of the mathematical dynamic modeling of UG’s motions. Therefore, state space models are derived in both horizontal and vertical planes based on appropriate assumptions. In the linearization procedure, hydrodynamic damping, rigid body, restoring, and kinematic terms are linearized. Validation of both linear and non-linear models is conducted through experimental tests. For validation, the results of mathematical models are compared with experimental tests through the helix and advancing maneuvers. Furthermore, an adaptive control system, specifically the Indirect Model Reference Adaptive Control System (MRAS), is designed based on the state space models to create a suitable intelligent path-following structure. Monte Carlo analysis and Lyapunov energy functions are employed to demonstrate the stability of the proposed structure. All numerical modeling is executed using MATLAB Simulink 2023, while experimental tests are conducted on the SUT glider in the experimental pool of Sharif University of Technology. The numerical modeling results indicate that the adaptive structure exhibits superior performance and lower energy consumption compared to the fixed structure under uncertain parameters. Thus, employing this control method can extend the range of operation and endurance time of the gliders. The proposed algorithm is implemented on the SUT glider, validating the effectiveness of the proposed approach
  9. Keywords:
  10. Uncertainty ; Path Following ; Guidance, Navigation, and Control (GNC)System ; Underwater Glider ; Adaptive Path-Following Control ; Control System Design ; Model Reference Adaptive System (MRAS)

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