Sarhadi Pouria, Noei Abolfazl Ranjbar, Khosravi Alireza
Faculty of Electrical and Computer Engineering, Babol Noshirvani University of Technology, Babol, Iran.
Faculty of Electrical and Computer Engineering, Babol Noshirvani University of Technology, Babol, Iran.
ISA Trans. 2016 Nov;65:284-295. doi: 10.1016/j.isatra.2016.08.002. Epub 2016 Sep 15.
Input saturations and uncertain dynamics are among the practical challenges in control of autonomous vehicles. Adaptive control is known as a proper method to deal with the uncertain dynamics of these systems. Therefore, incorporating the ability to confront with input saturation in adaptive controllers can be valuable. In this paper, an adaptive autopilot is presented for the pitch and yaw channels of an autonomous underwater vehicle (AUV) in the presence of input saturations. This will be performed by combination of a model reference adaptive control (MRAC) with integral state feedback with a modern anti-windup (AW) compensator. MRAC with integral state feedback is commonly used in autonomous vehicles. However, some proper modifications need to be taken into account in order to cope with the saturation problem. To this end, a Riccati-based anti-windup (AW) compensator is employed. The presented technique is applied to the non-linear six degrees of freedom (DOF) model of an AUV and the obtained results are compared with that of its baseline method. Several simulation scenarios are executed in the pitch and yaw channels to evaluate the controller performance. Moreover, effectiveness of proposed adaptive controller is comprehensively investigated by implementing Monte Carlo simulations. The obtained results verify the performance of proposed method.
输入饱和与不确定动力学是自主车辆控制中的实际挑战。自适应控制是应对这些系统不确定动力学的一种合适方法。因此，在自适应控制器中加入应对输入饱和的能力可能很有价值。本文针对存在输入饱和情况下的自主水下航行器（AUV）的俯仰和偏航通道，提出了一种自适应自动驾驶仪。这将通过模型参考自适应控制（MRAC）与积分状态反馈相结合，并结合现代抗饱和（AW）补偿器来实现。带有积分状态反馈的MRAC常用于自主车辆。然而，为了应对饱和问题，需要考虑一些适当的修改。为此，采用了基于黎卡提的抗饱和（AW）补偿器。将所提出的技术应用于AUV的非线性六自由度（DOF）模型，并将所得结果与其基线方法的结果进行比较。在俯仰和偏航通道中执行了几个仿真场景，以评估控制器性能。此外，通过实施蒙特卡洛模拟全面研究了所提出的自适应控制器的有效性。所得结果验证了所提方法的性能。
