Composite adaptive control of submarine and parameter identification by integral regressor excitation

IF 1.4 4区计算机科学 Q4 AUTOMATION & CONTROL SYSTEMS

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering Pub Date : 2023-12-11 DOI:10.1177/09596518231207417

Keum W. Lee, Sahjendra N. Singh

引用次数: 0

Abstract

In this article, we develop a novel composite adaptive control system for the dive-plane maneuvers and parameter identification of a multi-input multi-output submarine model. The composite adaptive control system consists of (1) an input–output feedback linearizing control law and (2) an identifier formed by gradient algorithm-based two-parameter estimation laws. Unlike the existing adaptive systems for autonomous underwater vehicles and submarines, a novelty of this composite identifier lies in the use of regressor matrix integral feedback for enhancement in parameter excitation. By the Lyapunov analysis, asymptotic convergence of the depth and pitch angle tracking errors is established. Simulation results show precise depth and pitch angle control, estimation of all model parameters, and robustness to random and sinusoidal disturbance inputs.

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潜艇的复合自适应控制和积分回归器激励的参数识别

本文开发了一种新型复合自适应控制系统，用于多输入多输出潜艇模型的俯冲平面机动和参数识别。复合自适应控制系统包括：（1）输入输出反馈线性化控制法；（2）基于梯度算法的双参数估计法形成的识别器。与现有的用于自主水下航行器和潜艇的自适应系统不同，这种复合识别器的新颖之处在于使用回归矩阵积分反馈来增强参数激励。通过 Lyapunov 分析，确定了深度和俯仰角跟踪误差的渐近收敛性。仿真结果显示了精确的深度和俯仰角控制、所有模型参数的估计以及对随机和正弦干扰输入的鲁棒性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 工程技术-自动化与控制系统

CiteScore

3.50

自引率

18.80%

发文量

审稿时长

4.2 months

期刊介绍： Systems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering refleSystems and control studies provide a unifying framework for a wide range of engineering disciplines and industrial applications. The Journal of Systems and Control Engineering reflects this diversity by giving prominence to experimental application and industrial studies. "It is clear from the feedback we receive that the Journal is now recognised as one of the leaders in its field. We are particularly interested in highlighting experimental applications and industrial studies, but also new theoretical developments which are likely to provide the foundation for future applications. In 2009, we launched a new Series of "Forward Look" papers written by leading researchers and practitioners. These short articles are intended to be provocative and help to set the agenda for future developments. We continue to strive for fast decision times and minimum delays in the production processes." Professor Cliff Burrows - University of Bath, UK This journal is a member of the Committee on Publication Ethics (COPE).cts this diversity by giving prominence to experimental application and industrial studies.