A novel approximation of underwater robotic vehicle controller exploiting multi-point matching
Abstract This proposed work is presenting the approximation of higher-order (HO) underwater robotic vehicle (URV) controller with the help of multi-point matching technique by incorporating greywolf optimization algorithm (GWOA). The performance of URV system is affected by external and internal dyn...
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Nature Portfolio
2025-08-01
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| Series: | Scientific Reports |
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| Online Access: | https://doi.org/10.1038/s41598-025-14612-w |
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| author | Umesh Kumar Yadav V. P. Singh Luigi Fortuna Umesh Kumar Sahu |
| author_facet | Umesh Kumar Yadav V. P. Singh Luigi Fortuna Umesh Kumar Sahu |
| author_sort | Umesh Kumar Yadav |
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| description | Abstract This proposed work is presenting the approximation of higher-order (HO) underwater robotic vehicle (URV) controller with the help of multi-point matching technique by incorporating greywolf optimization algorithm (GWOA). The performance of URV system is affected by external and internal dynamics. The proper momentum of URV system is achieved by designing a controller. The URV can be effectively operated by control action of controller. The URV controller is approximated to comparatively lower-order (LO) to propose an efficient, effective and economical controller for HOURV system. The approximation is accomplished with the help of expansion parameters of HOURV controller and its desired LOURV controller. The errors between these expansion parameters of HOURV controller and its desired LOURV controller are minimized using multi-point matching. The multi-point matching is depicted in the form of objective function (OF). The constructed OF is minimized by exploiting GWOA by fulfilling the steady-state matching condition and Hurwitz stability criterion, as constraints. The effectiveness of proposed approach of multi-point matching is verified by comparing the proposed LOURV model with LOURV models obtained with the help of other approximation approaches. The applicability of proposed LOURV controller is evaluated and validated by analyzing responses and tabulated data obtained in the results. Additionally, the statistical data of performance error values (PEVs) are provided in tabulated form along with its bar plot. |
| format | Article |
| id | doaj-art-7dd895f461df4e48bc5523265e50a815 |
| institution | Kabale University |
| issn | 2045-2322 |
| language | English |
| publishDate | 2025-08-01 |
| publisher | Nature Portfolio |
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| series | Scientific Reports |
| spelling | doaj-art-7dd895f461df4e48bc5523265e50a8152025-08-24T11:26:09ZengNature PortfolioScientific Reports2045-23222025-08-0115111710.1038/s41598-025-14612-wA novel approximation of underwater robotic vehicle controller exploiting multi-point matchingUmesh Kumar Yadav0V. P. Singh1Luigi Fortuna2Umesh Kumar Sahu3Department of Electrical Engineering, Malaviya National Institute of TechnologyDepartment of Electrical Engineering, Malaviya National Institute of TechnologyDepartment of Electrical Electronic and Computer Engineering, University of CataniaDepartment of Mechatronics, Manipal Institute of Technology, Manipal Academy of Higher EducationAbstract This proposed work is presenting the approximation of higher-order (HO) underwater robotic vehicle (URV) controller with the help of multi-point matching technique by incorporating greywolf optimization algorithm (GWOA). The performance of URV system is affected by external and internal dynamics. The proper momentum of URV system is achieved by designing a controller. The URV can be effectively operated by control action of controller. The URV controller is approximated to comparatively lower-order (LO) to propose an efficient, effective and economical controller for HOURV system. The approximation is accomplished with the help of expansion parameters of HOURV controller and its desired LOURV controller. The errors between these expansion parameters of HOURV controller and its desired LOURV controller are minimized using multi-point matching. The multi-point matching is depicted in the form of objective function (OF). The constructed OF is minimized by exploiting GWOA by fulfilling the steady-state matching condition and Hurwitz stability criterion, as constraints. The effectiveness of proposed approach of multi-point matching is verified by comparing the proposed LOURV model with LOURV models obtained with the help of other approximation approaches. The applicability of proposed LOURV controller is evaluated and validated by analyzing responses and tabulated data obtained in the results. Additionally, the statistical data of performance error values (PEVs) are provided in tabulated form along with its bar plot.https://doi.org/10.1038/s41598-025-14612-wApproximationExpansion-parametersGreywolf optimization algorithmLower-order modelMulti-point matchingUnderwater robotic vehicle controller. |
| spellingShingle | Umesh Kumar Yadav V. P. Singh Luigi Fortuna Umesh Kumar Sahu A novel approximation of underwater robotic vehicle controller exploiting multi-point matching Scientific Reports Approximation Expansion-parameters Greywolf optimization algorithm Lower-order model Multi-point matching Underwater robotic vehicle controller. |
| title | A novel approximation of underwater robotic vehicle controller exploiting multi-point matching |
| title_full | A novel approximation of underwater robotic vehicle controller exploiting multi-point matching |
| title_fullStr | A novel approximation of underwater robotic vehicle controller exploiting multi-point matching |
| title_full_unstemmed | A novel approximation of underwater robotic vehicle controller exploiting multi-point matching |
| title_short | A novel approximation of underwater robotic vehicle controller exploiting multi-point matching |
| title_sort | novel approximation of underwater robotic vehicle controller exploiting multi point matching |
| topic | Approximation Expansion-parameters Greywolf optimization algorithm Lower-order model Multi-point matching Underwater robotic vehicle controller. |
| url | https://doi.org/10.1038/s41598-025-14612-w |
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