چکیده مقاله
Autonomous Underwater Vehicles AUV has a variety of applications in marine science, surveying, military, commercial, and inspection tasks Control issue of these devices is very challenging due to nonlinearity, time variant, unpredictable external disturbances such as the environmental force generated by the sea current fluctuation and the difficulty in accurately modeling the hydrodynamic effect In this paper, the heading trajectory tracking control of the AUV in x y plane using Model Reference Adaptive Control MRAC is investigated The inverse dynamic technique is employed to transform the controlled plant's model into the linearized form To illustrate the performance of the proposed MRAC algorithm, a comparative study with conventional PID controller is conducted Simulation results show the superior performance of MRAC achieving the control objectives
کلیدواژهها
نویسندگان
Mehdi Yaghoti
Department of Mechanical Engineering, College of Mechatronic, Karaj Branch, Islamic Azad University, Alborz, Iran
Abolfath Nikranjbar
Department of Mechanical Engineering, College of Mechatronic, Karaj Branch, Islamic Azad University, Alborz, Iran
شیوه ارجاع
Yaghoti, Mehdi and Nikranjbar, Abolfath,1394,MODEL REFERENCE ADAPTIVE PLANE CONTROL OF AUTONOMOUS UNDERWATER VEHICLE,International Conference on New Research Findings in Electrical Engineering and Computer Science,Tehran
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