Nonlinear adaptive control synthesis using U-model for multivariable underwater remotely operated vehicle

Nur Afande Ali Hussain; Syed Saad Azhar Ali; Mohamad Naufal Mohamad Saad; Mark Ovinis

doi:10.1109/USYS.2017.8309442

Nonlinear adaptive control synthesis using U-model for multivariable underwater remotely operated vehicle

Nur Afande Ali Hussain
, Syed Saad Azhar Ali
, Mohamad Naufal Mohamad Saad
, Mark Ovinis

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents the development of ROV control modelling and control synthesis using nonlinear adaptive U-model approach. Nonlinear ROV model based on the dynamic equation using the Newtonian method and derivation towards the kinematics equations and rigid-body mass matrixes are explained. This nonlinear ROV model represents the underwater thruster dynamics, ROV dynamics and kinematics related to the earth-fixed frame. MIMO Nonlinear adaptive control synthesis using U-model approach incorporate with neural networks algorithm are developed with MATLAB™ Simulink software and integrated together with the nonlinear ROV model using Internal Model Control structure. The controller output is based on Newton Raphson recursive algorithm with learning rate value between zero and one which improve the system stability. Radial basis function (RBF) is chosen for the neural networks activation function due to faster learning speed. Results show good control signal convergence and tracking performance between plant or system model with U-model polynomial.

Original language	English
Title of host publication	2017 IEEE 7th International Conference on Underwater System Technology
Subtitle of host publication	Theory and Applications, USYS 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	1-6
Number of pages	6
ISBN (Electronic)	9781538619186
DOIs	https://doi.org/10.1109/USYS.2017.8309442
State	Published - 2 Jul 2017
Externally published	Yes
Event	7th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2017 - Kuala Lumpur, Malaysia Duration: 18 Dec 2017 → 20 Dec 2017

Publication series

Name	2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017
Volume	2018-January

Conference

Conference	7th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2017
Country/Territory	Malaysia
City	Kuala Lumpur
Period	18/12/17 → 20/12/17

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

Keywords

Nonlinear adaptive control
U-model & ROV
radial basic function

ASJC Scopus subject areas

Automotive Engineering
Control and Optimization

Access to Document

10.1109/USYS.2017.8309442

Cite this

Hussain, N. A. A., Ali, S. S. A., Saad, M. N. M., & Ovinis, M. (2017). Nonlinear adaptive control synthesis using U-model for multivariable underwater remotely operated vehicle. In 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017 (pp. 1-6). (2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/USYS.2017.8309442

Hussain, Nur Afande Ali ; Ali, Syed Saad Azhar ; Saad, Mohamad Naufal Mohamad et al. / Nonlinear adaptive control synthesis using U-model for multivariable underwater remotely operated vehicle. 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 1-6 (2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017).

@inproceedings{345b2aa9509e4b93ae54a7117edfd8cc,

title = "Nonlinear adaptive control synthesis using U-model for multivariable underwater remotely operated vehicle",

abstract = "This paper presents the development of ROV control modelling and control synthesis using nonlinear adaptive U-model approach. Nonlinear ROV model based on the dynamic equation using the Newtonian method and derivation towards the kinematics equations and rigid-body mass matrixes are explained. This nonlinear ROV model represents the underwater thruster dynamics, ROV dynamics and kinematics related to the earth-fixed frame. MIMO Nonlinear adaptive control synthesis using U-model approach incorporate with neural networks algorithm are developed with MATLAB{\texttrademark} Simulink software and integrated together with the nonlinear ROV model using Internal Model Control structure. The controller output is based on Newton Raphson recursive algorithm with learning rate value between zero and one which improve the system stability. Radial basis function (RBF) is chosen for the neural networks activation function due to faster learning speed. Results show good control signal convergence and tracking performance between plant or system model with U-model polynomial.",

keywords = "Nonlinear adaptive control, U-model \& ROV, radial basic function",

author = "Hussain, \{Nur Afande Ali\} and Ali, \{Syed Saad Azhar\} and Saad, \{Mohamad Naufal Mohamad\} and Mark Ovinis",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 7th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2017 ; Conference date: 18-12-2017 Through 20-12-2017",

year = "2017",

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doi = "10.1109/USYS.2017.8309442",

language = "English",

series = "2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017",

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Hussain, NAA, Ali, SSA, Saad, MNM & Ovinis, M 2017, Nonlinear adaptive control synthesis using U-model for multivariable underwater remotely operated vehicle. in 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017. 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 1-6, 7th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2017, Kuala Lumpur, Malaysia, 18/12/17. https://doi.org/10.1109/USYS.2017.8309442

Nonlinear adaptive control synthesis using U-model for multivariable underwater remotely operated vehicle. / Hussain, Nur Afande Ali; Ali, Syed Saad Azhar; Saad, Mohamad Naufal Mohamad et al.
2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 1-6 (2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ovinis, Mark

PY - 2017/7/2

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N2 - This paper presents the development of ROV control modelling and control synthesis using nonlinear adaptive U-model approach. Nonlinear ROV model based on the dynamic equation using the Newtonian method and derivation towards the kinematics equations and rigid-body mass matrixes are explained. This nonlinear ROV model represents the underwater thruster dynamics, ROV dynamics and kinematics related to the earth-fixed frame. MIMO Nonlinear adaptive control synthesis using U-model approach incorporate with neural networks algorithm are developed with MATLAB™ Simulink software and integrated together with the nonlinear ROV model using Internal Model Control structure. The controller output is based on Newton Raphson recursive algorithm with learning rate value between zero and one which improve the system stability. Radial basis function (RBF) is chosen for the neural networks activation function due to faster learning speed. Results show good control signal convergence and tracking performance between plant or system model with U-model polynomial.

AB - This paper presents the development of ROV control modelling and control synthesis using nonlinear adaptive U-model approach. Nonlinear ROV model based on the dynamic equation using the Newtonian method and derivation towards the kinematics equations and rigid-body mass matrixes are explained. This nonlinear ROV model represents the underwater thruster dynamics, ROV dynamics and kinematics related to the earth-fixed frame. MIMO Nonlinear adaptive control synthesis using U-model approach incorporate with neural networks algorithm are developed with MATLAB™ Simulink software and integrated together with the nonlinear ROV model using Internal Model Control structure. The controller output is based on Newton Raphson recursive algorithm with learning rate value between zero and one which improve the system stability. Radial basis function (RBF) is chosen for the neural networks activation function due to faster learning speed. Results show good control signal convergence and tracking performance between plant or system model with U-model polynomial.

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Hussain NAA, Ali SSA, Saad MNM, Ovinis M. Nonlinear adaptive control synthesis using U-model for multivariable underwater remotely operated vehicle. In 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017. Institute of Electrical and Electronics Engineers Inc. 2017. p. 1-6. (2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017). doi: 10.1109/USYS.2017.8309442

Nonlinear adaptive control synthesis using U-model for multivariable underwater remotely operated vehicle

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this