Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
RECURSIVE LEAST SQUARES ESTIMATOR BASED ADAPTIVE SLIDING MODE CONTROLLER FOR AN AUTONOMOUS UNDERWATER VEHICLE
Download
Thesis231010.pdf
Date
2023-9-11
Author
ÇAKIR, Sertaç
Metadata
Show full item record
This work is licensed under a
Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License
.
Item Usage Stats
42
views
0
downloads
Cite This
Mathematical models of underwater vehicles are highly nonlinear, coupled, and involves significant uncertainty. Therefore, a robust and comprehensive control strategy is required in autonomous underwater vehicle (AUV) autopilot design. In addition to this, obtaining the model parameters with computational fluid dynamics (CFD) analysis is most often too expensive and time consuming. Hence, an adaptive strategy, which may eliminate the need for CFD analysis, in control system design is deeply favorable. In this thesis: The attitude control of AUV is established robustly with a multi variable sliding mode controller (SMC). The well-known chattering phenomenon is solved with a proportional integral (PI) like boundary layer switching design. The hydrodynamic derivatives are estimated online with recursive least squares estimator (RLSE) which is integrated into the equivalent control term of SMC. Estimation, stability and tracking performances of the proposed method is ensured with simulations which are based on a high fidelity model of the vehicle and the environment. The parameter estimation performance is also demonstrated with a real underwater vehicle test data. As a result, the proposed method is proved to control the attitude of an AUV without any prior hydrodynamic derivative information.
Subject Keywords
autonomous, underwater vehicle, autopilot, adaptive, estimation, system identification, sliding mode control, recursive, least squares
URI
https://hdl.handle.net/11511/105603
Collections
Graduate School of Natural and Applied Sciences, Thesis
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
S. ÇAKIR, “RECURSIVE LEAST SQUARES ESTIMATOR BASED ADAPTIVE SLIDING MODE CONTROLLER FOR AN AUTONOMOUS UNDERWATER VEHICLE,” M.S. - Master of Science, Middle East Technical University, 2023.