Underactuated nonlinear adaptive control approach using U-model for multivariable underwater glider control parameters

Nur Afande Ali Hussain; Syed Saad Azhar Ali; Mohamad Naufal Mohamad Saad; Nadira Nordin

doi:10.1109/USYS.2016.7893947

Underactuated nonlinear adaptive control approach using U-model for multivariable underwater glider control parameters

Nur Afande Ali Hussain, Syed Saad Azhar Ali, Mohamad Naufal Mohamad Saad, Nadira Nordin

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

9 Scopus citations

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. Thus contributes towards the underactuated nonlinear adaptive control development and process modelling.

Original language	English
Title of host publication	USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology
Subtitle of host publication	Theory and Applications
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	19-25
Number of pages	7
ISBN (Electronic)	9781509057986
DOIs	https://doi.org/10.1109/USYS.2016.7893947
State	Published - 6 Apr 2017
Externally published	Yes
Event	6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016 - Pulau Pinang, Malaysia Duration: 13 Dec 2016 → 14 Dec 2016

Publication series

Name	USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications

Conference

Conference	6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016
Country/Territory	Malaysia
City	Pulau Pinang
Period	13/12/16 → 14/12/16

Bibliographical note

Publisher Copyright:
© 2016 IEEE.

Keywords

MIMO
Multivariable
Nonlinear adaptive and Underwater glider
U-model
coupled
underactuated

ASJC Scopus subject areas

Automotive Engineering
Oceanography

Access to Document

10.1109/USYS.2016.7893947

Cite this

Hussain, N. A. A., Ali, S. S. A., Saad, M. N. M., & Nordin, N. (2017). Underactuated nonlinear adaptive control approach using U-model for multivariable underwater glider control parameters. In USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications (pp. 19-25). Article 7893947 (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/USYS.2016.7893947

Hussain, Nur Afande Ali ; Ali, Syed Saad Azhar ; Saad, Mohamad Naufal Mohamad et al. / Underactuated nonlinear adaptive control approach using U-model for multivariable underwater glider control parameters. USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications. Institute of Electrical and Electronics Engineers Inc., 2017. pp. 19-25 (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications).

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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. Thus contributes towards the underactuated nonlinear adaptive control development and process modelling.",

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Hussain, NAA, Ali, SSA, Saad, MNM & Nordin, N 2017, Underactuated nonlinear adaptive control approach using U-model for multivariable underwater glider control parameters. in USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications., 7893947, USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications, Institute of Electrical and Electronics Engineers Inc., pp. 19-25, 6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016, Pulau Pinang, Malaysia, 13/12/16. https://doi.org/10.1109/USYS.2016.7893947

Underactuated nonlinear adaptive control approach using U-model for multivariable underwater glider control parameters. / Hussain, Nur Afande Ali; Ali, Syed Saad Azhar; Saad, Mohamad Naufal Mohamad et al.
USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications. Institute of Electrical and Electronics Engineers Inc., 2017. p. 19-25 7893947 (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications).

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

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PY - 2017/4/6

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Hussain NAA, Ali SSA, Saad MNM, Nordin N. Underactuated nonlinear adaptive control approach using U-model for multivariable underwater glider control parameters. In USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications. Institute of Electrical and Electronics Engineers Inc. 2017. p. 19-25. 7893947. (USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications). doi: 10.1109/USYS.2016.7893947

Underactuated nonlinear adaptive control approach using U-model for multivariable underwater glider control parameters

Abstract

Publication series

Conference

Bibliographical note

Keywords

ASJC Scopus subject areas

Access to Document

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Cite this