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Robust Adaptive Control of an Uninhabited Surface Vehicle

A. S. K. Annamalai, R. Sutton, C. Yang, P. Culverhouse, S. Sharma, Chenguang Yang

Journal of Intelligent & Robotic Systems, Volume: 78, Issue: 2, Pages: 319 - 338

Swansea University Author: Chenguang Yang

DOI (Published version): 10.1007/s10846-014-0057-2

Abstract

In this paper, we develop a novel and robust adaptive autopilot for uninhabited surface vehicles (USV). In practice, usually asudden change in dynamics results in aborted missions and the USV has to be rescued to avoid possible damage to other marine crafts inthe vicinity. This problem has been inve...

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Published in: Journal of Intelligent & Robotic Systems
Published: 2015
URI: https://cronfa.swan.ac.uk/Record/cronfa27028
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Abstract: In this paper, we develop a novel and robust adaptive autopilot for uninhabited surface vehicles (USV). In practice, usually asudden change in dynamics results in aborted missions and the USV has to be rescued to avoid possible damage to other marine crafts inthe vicinity. This problem has been investigated in our innovative design, which enables the autopilot to cope well with significant changes in the system dynamics and empowers USVs to accomplish their desired missions. The model predictivecontrol technique is employed which adopts an online adaptive nature by utilising three algorithms. Even with random initialisation,significant improvements over the gradient descent and least squares approaches have been achieved by the modified weightedleast squares (WLS) method, which periodically reinitialising the covariance matrix. Extensive simulation studies have been performed to test and verify the advantages of the proposed method.
College: College of Engineering
Issue: 2
Start Page: 319
End Page: 338