eprintid: 13685
rev_number: 2
eprint_status: archive
userid: 1
dir: disk0/00/01/36/85
datestamp: 2023-11-10 03:28:15
lastmod: 2023-11-10 03:28:15
status_changed: 2023-11-10 01:51:45
type: article
metadata_visibility: show
creators_name: Hussain, N.A.A.
creators_name: Ali, S.S.A.
creators_name: Ridao, P.
creators_name: Cieslak, P.
creators_name: Al-Saggaf, U.M.
title: Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle
ispublished: pub
keywords: Adaptive control systems; Control system synthesis; Model predictive control; Open source software; Open systems; Robots; Unmanned underwater vehicles, Internal model control; Mathematical algorithms; Modelling and controls; Real time performance; Real-time experiment; Robot operating system; Robot operating systems (ROS); Tracking performance, Controllers
note: cited By 6
abstract: 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. © 2013 IEEE.
date: 2020
publisher: Institute of Electrical and Electronics Engineers Inc.
official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85097383471&doi=10.1109%2fACCESS.2020.3037122&partnerID=40&md5=04a558ce36cf433d508747a0f3909770
id_number: 10.1109/ACCESS.2020.3037122
full_text_status: none
publication: IEEE Access
volume: 8
pagerange: 205685-205695
refereed: TRUE
issn: 21693536
citation:   Hussain, N.A.A. and Ali, S.S.A. and Ridao, P. and Cieslak, P. and Al-Saggaf, U.M.  (2020) Implementation of Nonlinear Adaptive U-Model Control Synthesis Using a Robot Operating System for an Unmanned Underwater Vehicle.  IEEE Access, 8.  pp. 205685-205695.  ISSN 21693536