U-model based depth control of underwater glider
Controlling underwater glider brings a unique challenge for control engineers and academic researcher. The dynamics, nonlinearity and multivariable nature of glider plus the highly turbulent underwater disturbances has disregarded many effective control techniques. The Internal Model Control (IMC) s...
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Institute of Electrical and Electronics Engineers Inc.
2016
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my.utp.eprints.308672022-03-25T07:40:01Z U-model based depth control of underwater glider Abbasi, I. Ali, S.S.A. Ibrahim, R. Adil, S.H. Ovinis, M. Controlling underwater glider brings a unique challenge for control engineers and academic researcher. The dynamics, nonlinearity and multivariable nature of glider plus the highly turbulent underwater disturbances has disregarded many effective control techniques. The Internal Model Control (IMC) structure, where the controller implementation includes explicit model of the plant has shown to be very effective for control of stable plants in process industries. The inherent capabilities of IMC to perform robustly and reject disturbances make it attractive to be used in applications like underwater robotics. In this paper adaptive IMC based on U-model is investigated for controlling depth of underwater Glider. U-model is an adaptive modeling framework that models system based on current control term only. This implies that the control law can be synthesized simplistically using Internal Model Control (IMC). Hence inverse of polynomial expression based on u(t-1) is computed using Newton-Raphson method. The effectiveness of U-model based IMC is illustrated with aid of simulation for depth control of glider. Furthermore, performance of proposed controller is compared with PID. Results show that U-model methodology performs better than PID in terms of settling time. © 2015 IEEE. Institute of Electrical and Electronics Engineers Inc. 2016 Conference or Workshop Item NonPeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-84973879650&doi=10.1109%2fICICT.2015.7469492&partnerID=40&md5=3c3e46d316e1ad96d71afcbb84443268 Abbasi, I. and Ali, S.S.A. and Ibrahim, R. and Adil, S.H. and Ovinis, M. (2016) U-model based depth control of underwater glider. In: UNSPECIFIED. http://eprints.utp.edu.my/30867/ |
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Controlling underwater glider brings a unique challenge for control engineers and academic researcher. The dynamics, nonlinearity and multivariable nature of glider plus the highly turbulent underwater disturbances has disregarded many effective control techniques. The Internal Model Control (IMC) structure, where the controller implementation includes explicit model of the plant has shown to be very effective for control of stable plants in process industries. The inherent capabilities of IMC to perform robustly and reject disturbances make it attractive to be used in applications like underwater robotics. In this paper adaptive IMC based on U-model is investigated for controlling depth of underwater Glider. U-model is an adaptive modeling framework that models system based on current control term only. This implies that the control law can be synthesized simplistically using Internal Model Control (IMC). Hence inverse of polynomial expression based on u(t-1) is computed using Newton-Raphson method. The effectiveness of U-model based IMC is illustrated with aid of simulation for depth control of glider. Furthermore, performance of proposed controller is compared with PID. Results show that U-model methodology performs better than PID in terms of settling time. © 2015 IEEE. |
format |
Conference or Workshop Item |
author |
Abbasi, I. Ali, S.S.A. Ibrahim, R. Adil, S.H. Ovinis, M. |
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Abbasi, I. Ali, S.S.A. Ibrahim, R. Adil, S.H. Ovinis, M. U-model based depth control of underwater glider |
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Abbasi, I. Ali, S.S.A. Ibrahim, R. Adil, S.H. Ovinis, M. |
author_sort |
Abbasi, I. |
title |
U-model based depth control of underwater glider |
title_short |
U-model based depth control of underwater glider |
title_full |
U-model based depth control of underwater glider |
title_fullStr |
U-model based depth control of underwater glider |
title_full_unstemmed |
U-model based depth control of underwater glider |
title_sort |
u-model based depth control of underwater glider |
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Institute of Electrical and Electronics Engineers Inc. |
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2016 |
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https://www.scopus.com/inward/record.uri?eid=2-s2.0-84973879650&doi=10.1109%2fICICT.2015.7469492&partnerID=40&md5=3c3e46d316e1ad96d71afcbb84443268 http://eprints.utp.edu.my/30867/ |
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