eprintid: 7040
rev_number: 2
eprint_status: archive
userid: 1
dir: disk0/00/00/70/40
datestamp: 2023-11-09 16:18:50
lastmod: 2023-11-09 16:18:50
status_changed: 2023-11-09 16:08:19
type: conference_item
metadata_visibility: show
creators_name: Abbasi, I.
creators_name: Ali, S.S.A.
creators_name: Ibrahim, R.
creators_name: Adil, S.H.
creators_name: Ovinis, M.
title: U-model based depth control of underwater glider
ispublished: pub
keywords: Adaptive control systems; Controllers; Intelligent control; Inverse problems; Model predictive control; Newton-Raphson method; Robotics; Stabilization, Control techniques; Controller implementation; Internal model control; Polynomial expression; RBFNN; Reject disturbances; U-model; Underwater robotics, Aircraft control
note: cited By 1; Conference of International Conference on Information and Communication Technologies, ICICT 2015 ; Conference Date: 12 December 2015 Through 13 December 2015; Conference Code:121662
abstract: 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.
date: 2016
publisher: Institute of Electrical and Electronics Engineers Inc.
official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-84973879650&doi=10.1109%2fICICT.2015.7469492&partnerID=40&md5=3c3e46d316e1ad96d71afcbb84443268
id_number: 10.1109/ICICT.2015.7469492
full_text_status: none
publication: 2015 International Conference on Information and Communication Technologies, ICICT 2015
refereed: TRUE
isbn: 9781467389075
citation:   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.