Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle
| Autor: | Pere Ridao, Syed Saad Azhar Ali, Ubaid M. Al-Saggaf, Patryk Cieslak, Nur Afande Ali Hussain |
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| Jazyk: | angličtina |
| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Robots -- Programació General Computer Science Computer science Robots autònoms Robots -- Programming Internal model PID controller 02 engineering and technology Robots submarins underactuated 020901 industrial engineering & automation Control theory Autonomous robots 0202 electrical engineering electronic engineering information engineering Mobile robots General Materials Science Robots -- Sistemes de control Robots -- Control Systems Underactuation Node (networking) Multivariable calculus 020208 electrical & electronic engineering General Engineering Adaptive control Control engineering UUV ROS Nonlinear system Robots mòbils Underwater robots nonlinear Unmanned underwater vehicle lcsh:Electrical engineering. Electronics. Nuclear engineering lcsh:TK1-9971 |
| Zdroj: | IEEE Access, Vol 8, Pp 205685-205695 (2020) Ieee Access, 2020, vol. 8, p. 205685-205695 Articles publicats (D-ATC) Hussain, Nur Afande Ali Ali, Syed Saad Azhar Ridao Rodríguez, Pere Cieśląk, Patryk Al-Saggaf, Ubaid 2020 Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle Ieee Access 8 205685 205695 DUGiDocs – Universitat de Girona instname |
| ISSN: | 2169-3536 |
| Popis: | This paper presents the development of unmanned marine robotic control modelling and control synthesis using a coupled multivariable underactuated nonlinear adaptive U-model approach. The proposed controller was developed using thru an open source robot operating system (ROS) platform. The new adaptive coupled U-model based internal model control (IMC) node was successfully developed and tested. The proposed controller demonstrated the simplicity of the control synthesis process and the implementation of the mathematical algorithm in real-time. The controller was compared with the proven existing GIRONA 500 UUV for real-time performance. The ROS environment provides fast and reliable controller design and development compared to conventional software architecture. Simulation and real-time experiment were conducted using ROS via the GIRONA 500 UUV platform and compared with a PID mission controller. A new ROS node of nonlinear adaptive U-model based IMC was developed using ROS. The results showed good control signal convergence and tracking performance between the plant or system model with the proposed method This research was supported by the Yayasan Universiti Teknologi Petronas-Fundamental Research Grant-Petroleum Resource Fund (YUTP-FRG) funded by PRF under the grant 0015LC0-235, Universiti Teknologi PETRONAS, Malaysia and King Abdulaziz University, Jeddah, Saudi Arabia under the grant 015ME0-066 |
| Databáze: | OpenAIRE |
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