eprintid: 8086
rev_number: 2
eprint_status: archive
userid: 1
dir: disk0/00/00/80/86
datestamp: 2023-11-09 16:19:56
lastmod: 2023-11-09 16:19:56
status_changed: 2023-11-09 16:11:45
type: article
metadata_visibility: show
creators_name: Hussain, N.A.A.
creators_name: Ali, S.S.A.
creators_name: Saad, M.N.M.
creators_name: Ovinis, M.
creators_name: Nordin, N.
creators_name: Adil, S.H.
title: Underactuated nonlinear adaptive control approach using U-model incorporated with RBFNN for multivariable underwater glider control parameters
ispublished: pub
keywords: autonomous underwater vehicle; control system; design; monitoring; multivariate analysis; nonlinearity
note: cited By 2
abstract: Underwater glider platform represents the maturing technology with a large cost saving over current underwater sampling process. It can survey and monitor the sea environment cost-effective manner combining survey capabilities, simultaneous water sampling and environmental data gathering capacities. It can perform a wide range of fully automated monitoring data measurement over an extended period of time. This paper will focus on the design of multivariable underactuated nonlinear adaptive control using U-model methodologies. Underwater glider control, modelling and identification approach was reviewed in order to formulate the design, development and control approach of underwater glider development using multivariable adaptive U-model nonlinear control approach. U-model methodology simplifies the control synthesis with the influence of the uncertainties and external disturbances by selecting appropriate control structures. Most of the autonomous underwater vehicle (AUV) neglected the coupling effect of the dynamics during process modelling while U-model enables to include the coupling effect using the inverse Jacobian matrix. U-model incorporated with RBFNN enhance the adaptive nonlinear control synthesis. Thus contributes towards the underactuated nonlinear adaptive control development and process modelling. © 2017, National Institute of Science Communication and Information Resources (NISCAIR). All rights reserved.
date: 2017
publisher: National Institute of Science Communication and Policy Research
official_url: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85037054662&partnerID=40&md5=1429d8df3fdfc565e0dd86988a0f7666
full_text_status: none
publication: Indian Journal of Geo-Marine Sciences
volume: 46
number: 12
pagerange: 2482-2492
refereed: TRUE
issn: 25826506
citation:   Hussain, N.A.A. and Ali, S.S.A. and Saad, M.N.M. and Ovinis, M. and Nordin, N. and Adil, S.H.  (2017) Underactuated nonlinear adaptive control approach using U-model incorporated with RBFNN for multivariable underwater glider control parameters.  Indian Journal of Geo-Marine Sciences, 46 (12).  pp. 2482-2492.  ISSN 25826506