Adaptive Control Algorithm for Trajectory Tracking of Underactuated Unmanned Surface Vehicle (UUSV)
The ability to track the trajectory or path on the sea surface remains a key measurement in the control system of an unmanned surface vehicle (USV). In this research, the designed algorithm defines the path and minimizes the disturbances to zero. Underactuated USVs are ships or boats, which operate...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2023-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2023/4820479 |
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| author | Chandanlal Karnani Syed Akhter Raza Muhammad Asif Muhammad Ilyas |
| author_facet | Chandanlal Karnani Syed Akhter Raza Muhammad Asif Muhammad Ilyas |
| author_sort | Chandanlal Karnani |
| collection | DOAJ |
| description | The ability to track the trajectory or path on the sea surface remains a key measurement in the control system of an unmanned surface vehicle (USV). In this research, the designed algorithm defines the path and minimizes the disturbances to zero. Underactuated USVs are ships or boats, which operate on the water surface without a crew and the underactuated system has low actuators than its degree of freedom (DOF). The adaptive control strategy is applied to the unbounded system as the ocean due to its high performance, while the robust control system attains high performance in the bounded system. To consider the trajectory tracking of UUSV and provide an optimal control strategy for a ship in the presence of external disturbances, the study presents a controller-based on model reference adaptive control with an integrator (MRACI), which guarantees the stability of a closed-loop system. The vehicle experiences variations in the system response due to external disturbance. This abovementioned scheme reduces the variations to nearly equal to zero making the vehicle stable. First, use computer-based simulation to verify the proposed controller under two different scenarios. Then, simulation results show that the designed scheme lowers the errors and performs well. |
| format | Article |
| id | doaj-art-aced499576f3459f9cc83f7b0ee516c7 |
| institution | DOAJ |
| issn | 1687-9619 |
| language | English |
| publishDate | 2023-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-aced499576f3459f9cc83f7b0ee516c72025-08-20T03:04:31ZengWileyJournal of Robotics1687-96192023-01-01202310.1155/2023/4820479Adaptive Control Algorithm for Trajectory Tracking of Underactuated Unmanned Surface Vehicle (UUSV)Chandanlal Karnani0Syed Akhter Raza1Muhammad Asif2Muhammad Ilyas3Department of Computer ScienceDepartment of Computer ScienceFaculty of Engineering, Science, Technology & ManagementGovernment College UniversityThe ability to track the trajectory or path on the sea surface remains a key measurement in the control system of an unmanned surface vehicle (USV). In this research, the designed algorithm defines the path and minimizes the disturbances to zero. Underactuated USVs are ships or boats, which operate on the water surface without a crew and the underactuated system has low actuators than its degree of freedom (DOF). The adaptive control strategy is applied to the unbounded system as the ocean due to its high performance, while the robust control system attains high performance in the bounded system. To consider the trajectory tracking of UUSV and provide an optimal control strategy for a ship in the presence of external disturbances, the study presents a controller-based on model reference adaptive control with an integrator (MRACI), which guarantees the stability of a closed-loop system. The vehicle experiences variations in the system response due to external disturbance. This abovementioned scheme reduces the variations to nearly equal to zero making the vehicle stable. First, use computer-based simulation to verify the proposed controller under two different scenarios. Then, simulation results show that the designed scheme lowers the errors and performs well.http://dx.doi.org/10.1155/2023/4820479 |
| spellingShingle | Chandanlal Karnani Syed Akhter Raza Muhammad Asif Muhammad Ilyas Adaptive Control Algorithm for Trajectory Tracking of Underactuated Unmanned Surface Vehicle (UUSV) Journal of Robotics |
| title | Adaptive Control Algorithm for Trajectory Tracking of Underactuated Unmanned Surface Vehicle (UUSV) |
| title_full | Adaptive Control Algorithm for Trajectory Tracking of Underactuated Unmanned Surface Vehicle (UUSV) |
| title_fullStr | Adaptive Control Algorithm for Trajectory Tracking of Underactuated Unmanned Surface Vehicle (UUSV) |
| title_full_unstemmed | Adaptive Control Algorithm for Trajectory Tracking of Underactuated Unmanned Surface Vehicle (UUSV) |
| title_short | Adaptive Control Algorithm for Trajectory Tracking of Underactuated Unmanned Surface Vehicle (UUSV) |
| title_sort | adaptive control algorithm for trajectory tracking of underactuated unmanned surface vehicle uusv |
| url | http://dx.doi.org/10.1155/2023/4820479 |
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