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U-model based controller design for an unmanned free swimming submersible (UFSS) vehicle under hydrodynamic disturbances

Abbasi, I. and Ali, S.S.A. and Ovinis, M. and Naeem, W. (2017) U-model based controller design for an unmanned free swimming submersible (UFSS) vehicle under hydrodynamic disturbances. Indian Journal of Geo-Marine Sciences, 46 (4). pp. 742-748.

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Abstract

This paper presents design and implementation of the U-model based controller for controlling pitch angle and heading of an unmanned free swimming submersible vehicle. It is shown that the U-model can adaptively model dynamics of unmanned free swimming submersible and since the U-model is a control oriented scheme, a simple law based on internal model control is used to synthesize the control input. Performance of designed controller is evaluated under hydrodynamic disturbances caused by water current. Further, the performance of proposed scheme is compared with the traditional PID. Both controllers give satisfactorily performance with the U-model performing better in terms of settling time and steady state error. © 2017, National Institute of Science Communication and Information Resources (NISCAIR). All rights reserved.

Item Type:Article
Impact Factor:cited By 0
Departments / MOR / COE:Division > Academic > Faculty of Engineering > Mechanical Engineering
ID Code:19784
Deposited By: Ahmad Suhairi
Deposited On:20 Apr 2018 07:47
Last Modified:20 Apr 2018 07:47

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