Underactuated Coupled Nonlinear Adaptive Control Synthesis Using U-Model for Multivariable Unmanned Marine Robotics
This paper presents the control modelling and synthesis using a coupled multivariable under-actuated nonlinear adaptive U-model approach for an unmanned marine robotic platform. A nonlinear marine robotics model based on the dynamic equation using the Newtonian method and derivation with respect to...
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| Format: | Article |
| Language: | English |
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IEEE
2020-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/8939419/ |
| _version_ | 1818427890255003648 |
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| author | Nur Afande Ali Hussain Syed Saad Azhar Ali Mark Ovinis Mohd Rizal Arshad Ubaid M. Al-Saggaf |
| author_facet | Nur Afande Ali Hussain Syed Saad Azhar Ali Mark Ovinis Mohd Rizal Arshad Ubaid M. Al-Saggaf |
| author_sort | Nur Afande Ali Hussain |
| collection | DOAJ |
| description | This paper presents the control modelling and synthesis using a coupled multivariable under-actuated nonlinear adaptive U-model approach for an unmanned marine robotic platform. A nonlinear marine robotics model based on the dynamic equation using the Newtonian method and derivation with respect to the kinematics equations and rigid-body mass matrixes are explained. This nonlinear marine robotics model represents the underwater thruster dynamics, marine robotics dynamics and kinematics related to the earth-fixed frame. Coupled multivariable nonlinear adaptive control synthesis using a U-model approach for the Remotely Operated Vehicle (ROV) and Unmanned Surface Vessel (USV) represent an unmanned marine robotics application. A comparison is presented for the proposed nonlinear control approach between the U-model control approach with nonlinear Fuzzy Logic Control and Sliding Mode Control for the ROV and USV platforms. The results show minimum mean square error values and tracking performance between the plant or system model with the proposed method. Lastly, robustness and stability analysis for the proposed U-Model nonlinear control approach are presented by implementing an adaptive learning rate value. |
| first_indexed | 2024-12-14T14:52:55Z |
| format | Article |
| id | doaj.art-fc1cf7dd6df144bdb9177ee57495c775 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-14T14:52:55Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-fc1cf7dd6df144bdb9177ee57495c7752022-12-21T22:57:05ZengIEEEIEEE Access2169-35362020-01-0181851186510.1109/ACCESS.2019.29617008939419Underactuated Coupled Nonlinear Adaptive Control Synthesis Using U-Model for Multivariable Unmanned Marine RoboticsNur Afande Ali Hussain0https://orcid.org/0000-0001-5813-8377Syed Saad Azhar Ali1https://orcid.org/0000-0002-5615-4629Mark Ovinis2https://orcid.org/0000-0002-2451-6410Mohd Rizal Arshad3https://orcid.org/0000-0003-1993-093XUbaid M. Al-Saggaf4https://orcid.org/0000-0002-2925-5184Department of Electrical and Electronic Engineering, Centre for Intelligent Signal and Imaging Research (CISIR), Universiti Teknologi PETRONAS, Seri Iskandar, MalaysiaDepartment of Electrical and Electronic Engineering, Centre for Intelligent Signal and Imaging Research (CISIR), Universiti Teknologi PETRONAS, Seri Iskandar, MalaysiaDepartment of Mechanical Engineering, Universiti Teknologi PETRONAS, Seri Iskandar, MalaysiaSchool of Electrical and Electronic Engineering, Universiti Sains Malaysia Engineering Campus, Nibong Tebal, MalaysiaCenter of Excellence in Intelligent Engineering Systems, King Abdulaziz University, Jeddah, Saudi ArabiaThis paper presents the control modelling and synthesis using a coupled multivariable under-actuated nonlinear adaptive U-model approach for an unmanned marine robotic platform. A nonlinear marine robotics model based on the dynamic equation using the Newtonian method and derivation with respect to the kinematics equations and rigid-body mass matrixes are explained. This nonlinear marine robotics model represents the underwater thruster dynamics, marine robotics dynamics and kinematics related to the earth-fixed frame. Coupled multivariable nonlinear adaptive control synthesis using a U-model approach for the Remotely Operated Vehicle (ROV) and Unmanned Surface Vessel (USV) represent an unmanned marine robotics application. A comparison is presented for the proposed nonlinear control approach between the U-model control approach with nonlinear Fuzzy Logic Control and Sliding Mode Control for the ROV and USV platforms. The results show minimum mean square error values and tracking performance between the plant or system model with the proposed method. Lastly, robustness and stability analysis for the proposed U-Model nonlinear control approach are presented by implementing an adaptive learning rate value.https://ieeexplore.ieee.org/document/8939419/Adaptive controlnonlinearROVunderactuatedunmanned marine roboticsUSV |
| spellingShingle | Nur Afande Ali Hussain Syed Saad Azhar Ali Mark Ovinis Mohd Rizal Arshad Ubaid M. Al-Saggaf Underactuated Coupled Nonlinear Adaptive Control Synthesis Using U-Model for Multivariable Unmanned Marine Robotics IEEE Access Adaptive control nonlinear ROV underactuated unmanned marine robotics USV |
| title | Underactuated Coupled Nonlinear Adaptive Control Synthesis Using U-Model for Multivariable Unmanned Marine Robotics |
| title_full | Underactuated Coupled Nonlinear Adaptive Control Synthesis Using U-Model for Multivariable Unmanned Marine Robotics |
| title_fullStr | Underactuated Coupled Nonlinear Adaptive Control Synthesis Using U-Model for Multivariable Unmanned Marine Robotics |
| title_full_unstemmed | Underactuated Coupled Nonlinear Adaptive Control Synthesis Using U-Model for Multivariable Unmanned Marine Robotics |
| title_short | Underactuated Coupled Nonlinear Adaptive Control Synthesis Using U-Model for Multivariable Unmanned Marine Robotics |
| title_sort | underactuated coupled nonlinear adaptive control synthesis using u model for multivariable unmanned marine robotics |
| topic | Adaptive control nonlinear ROV underactuated unmanned marine robotics USV |
| url | https://ieeexplore.ieee.org/document/8939419/ |
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