Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering Model
This paper addresses the problem of control design for a nonlinear maneuvering model of an autonomous underwater vehicle. The control algorithm is based on an iteration technique that approximates the original nonlinear model by a sequence of linear time-varying equations equivalent to the original...
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-11-01
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| Series: | Electronics |
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| Online Access: | https://www.mdpi.com/2079-9292/10/21/2686 |
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| author | Maria Tomas-Rodríguez Elías Revestido Herrero Francisco J. Velasco |
| author_facet | Maria Tomas-Rodríguez Elías Revestido Herrero Francisco J. Velasco |
| author_sort | Maria Tomas-Rodríguez |
| collection | DOAJ |
| description | This paper addresses the problem of control design for a nonlinear maneuvering model of an autonomous underwater vehicle. The control algorithm is based on an iteration technique that approximates the original nonlinear model by a sequence of linear time-varying equations equivalent to the original nonlinear problem and a self-tuning control method so that the controller is designed at each time point on the interval for trajectory tracking and heading angle control. This work makes use of self-tuning minimum variance principles. The benefit of this approach is that the nonlinearities and couplings of the system are preserved, unlike in the cases of control design based on linearized systems, reducing in this manner the uncertainty in the model and increasing the robustness of the controller. The simulations here presented use a torpedo-shaped underwater vehicle model and show the good performance of the controller and accurate tracking for certain maneuvering cases. |
| first_indexed | 2024-03-10T06:04:22Z |
| format | Article |
| id | doaj.art-2314af28260c48a9842f2968f2b62f8f |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-10T06:04:22Z |
| publishDate | 2021-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-2314af28260c48a9842f2968f2b62f8f2023-11-22T20:39:20ZengMDPI AGElectronics2079-92922021-11-011021268610.3390/electronics10212686Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering ModelMaria Tomas-Rodríguez0Elías Revestido Herrero1Francisco J. Velasco2School of Mathematics, Computer Science and Engineering, City University of London, London EC1V 0HB, UKDepartment of Electronic Technology, Systems Engineering and Automatic Control, E.T.S. de Náutica, University of Cantabria, C/Gamazo 1, 39004 Santander, SpainDepartment of Electronic Technology, Systems Engineering and Automatic Control, E.T.S. de Náutica, University of Cantabria, C/Gamazo 1, 39004 Santander, SpainThis paper addresses the problem of control design for a nonlinear maneuvering model of an autonomous underwater vehicle. The control algorithm is based on an iteration technique that approximates the original nonlinear model by a sequence of linear time-varying equations equivalent to the original nonlinear problem and a self-tuning control method so that the controller is designed at each time point on the interval for trajectory tracking and heading angle control. This work makes use of self-tuning minimum variance principles. The benefit of this approach is that the nonlinearities and couplings of the system are preserved, unlike in the cases of control design based on linearized systems, reducing in this manner the uncertainty in the model and increasing the robustness of the controller. The simulations here presented use a torpedo-shaped underwater vehicle model and show the good performance of the controller and accurate tracking for certain maneuvering cases.https://www.mdpi.com/2079-9292/10/21/2686nonlinearself-tuning minimum variance controlautopilotmaneuvering modelrecursive least squares |
| spellingShingle | Maria Tomas-Rodríguez Elías Revestido Herrero Francisco J. Velasco Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering Model Electronics nonlinear self-tuning minimum variance control autopilot maneuvering model recursive least squares |
| title | Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering Model |
| title_full | Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering Model |
| title_fullStr | Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering Model |
| title_full_unstemmed | Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering Model |
| title_short | Iterative Self-Tuning Minimum Variance Control of a Nonlinear Autonomous Underwater Vehicle Maneuvering Model |
| title_sort | iterative self tuning minimum variance control of a nonlinear autonomous underwater vehicle maneuvering model |
| topic | nonlinear self-tuning minimum variance control autopilot maneuvering model recursive least squares |
| url | https://www.mdpi.com/2079-9292/10/21/2686 |
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