Model reference adaptive autopilot with anti-windup compensator for an autonomous underwater vehicle: Design and hardware in the loop implementation results

2017 ◽  
Vol 62 ◽  
pp. 27-36 ◽  
Author(s):  
Pouria Sarhadi ◽  
Abolfazl Ranjbar Noei ◽  
Alireza Khosravi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Vehicle Design ◽  
Hardware In The Loop ◽  
Model Reference ◽  
Model Reference Adaptive

Evaluation of P-Q Controllers for an Injection Moulding Machine

2000 ◽  
Author(s):  
Paul K. Guerrier ◽  
Kevin A. Edge
Keyword(s):  
Injection Moulding ◽  
Adaptive Controller ◽  
Pi Controller ◽  
Hardware In The Loop ◽  
Model Reference ◽  
Industry Standard ◽  
Moulding Machine ◽  
Single Controller ◽  
Pressure Controller ◽  
Model Reference Adaptive

Abstract There are a number of problems surrounding traditional velocity and pressure controllers used on injection moulding machines. Injection moulding machines are also very expensive and full scale testing is often not appropriate at the beginning of new controller evaluation. This paper presents results for a half scale ‘hardware-in-the-loop’ load emulation of the filling and packing phases of injection moulding, suitable for controller evaluation. The problems linked to the current industry standard velocity and pressure controller are discussed along with alternative strategies. Schemes including single controller fuzzy logic and neural network solutions are discussed and ruled out in favour of ones containing separate velocity and pressure controllers. Results for a model reference adaptive pressure controller are presented and compared with those obtained using a closed loop PI controller experimentally and in simulation. Experimentally the model reference adaptive controller outperforms the PI controller but does suffer from gain drift.

Robust Adaptive Tracking Control of Autonomous Underwater Vehicle-Manipulator Systems

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Mohan Santhakumar ◽  
Jinwhan Kim
Keyword(s):  
Adaptive Control ◽  
Control Algorithm ◽  
Autonomous Underwater Vehicle ◽  
Underwater Vehicle ◽  
Dynamic Coupling ◽  
Unknown Parameters ◽  
Adaptive Tracking Control ◽  
Control Scheme ◽  
Robust Adaptive ◽  
Model Reference Adaptive

This paper proposes a new tracking controller for autonomous underwater vehicle-manipulator systems (UVMSs) using the concept of model reference adaptive control. It also addresses the detailed modeling and simulation of the dynamic coupling between an autonomous underwater vehicle and manipulator system based on Newton–Euler formulation scheme. The proposed adaptation control algorithm is used to estimate the unknown parameters online and compensate for the rest of the system dynamics. Specifically, the influence of the unknown manipulator mass on the control performance is indirectly captured by means of the adaptive control scheme. The effectiveness and robustness of the proposed control scheme are demonstrated using numerical simulations.

Identification of Underwater Vehicle Hydrodynamic Coefficients Using Model Tests

2010 ◽  
Author(s):  
B. Sadeghzadeh ◽  
H. Mehdigholi
Keyword(s):  
Autonomous Underwater Vehicle ◽  
Controller Design ◽  
Underwater Vehicle ◽  
Model Tests ◽  
Vehicle Design ◽  
Hydrodynamic Coefficients ◽  
Test Results ◽  
Engineering Research ◽  
University Of Technology ◽  
Marine Engineering

Predicting the hydrodynamic coefficients of an autonomous underwater vehicle (AUV) is important during vehicle design. SUT-2 is an AUV, being developed by the Marine Engineering Research Center of Sharif University of Technology in Iran (MERC). Model tests are done in the marine engineering laboratory towing tank. In this research, hydrodynamic coefficients are calculated using model test results of an autonomous underwater vehicle. Hydrodynamic forces are also analyzed. These coefficients are used for dynamic modeling and autonomous controller design.

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