Adaptive identification of underwater glider using U-model for depth & pitch control under hydrodynamic disturbances
This paper presents an adaptive identification method based on recently developed control oriented model called U-model for online identification of underwater glider. It is indicated from obtained results that the proposed technique can accurately and adaptively model nonlinearity and dynamics of u...
| Main Authors: | Abbasi, I., Ali, S.S.A., Ovinis, M., Naeem, W. |
|---|---|
| Format: | Article |
| Institution: | Universiti Teknologi Petronas |
| Record Id / ISBN-0: | utp-eprints.31404 / |
| Published: |
Penerbit UTM Press
2015
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https://www.scopus.com/inward/record.uri?eid=2-s2.0-84932637701&doi=10.11113%2fjt.v74.4813&partnerID=40&md5=b381de5f7dac609af9aff914e80db4ae http://eprints.utp.edu.my/31404/ |
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utp-eprints.314042022-03-26T03:18:57Z Adaptive identification of underwater glider using U-model for depth & pitch control under hydrodynamic disturbances Abbasi, I. Ali, S.S.A. Ovinis, M. Naeem, W. This paper presents an adaptive identification method based on recently developed control oriented model called U-model for online identification of underwater glider. It is indicated from obtained results that the proposed technique can accurately and adaptively model nonlinearity and dynamics of underwater glider even in presence of hydrodynamic disturbances. Since the proposed identification U-model scheme is control oriented in nature, hence it can be further utilized to synthesize a simple law for depth and pitch control of glider. © 2015 Penerbit UTM Press. All rights reserved. Penerbit UTM Press 2015 Article NonPeerReviewed https://www.scopus.com/inward/record.uri?eid=2-s2.0-84932637701&doi=10.11113%2fjt.v74.4813&partnerID=40&md5=b381de5f7dac609af9aff914e80db4ae Abbasi, I. and Ali, S.S.A. and Ovinis, M. and Naeem, W. (2015) Adaptive identification of underwater glider using U-model for depth & pitch control under hydrodynamic disturbances. Jurnal Teknologi, 74 (9). pp. 113-118. http://eprints.utp.edu.my/31404/ |
| institution |
Universiti Teknologi Petronas |
| collection |
UTP Institutional Repository |
| description |
This paper presents an adaptive identification method based on recently developed control oriented model called U-model for online identification of underwater glider. It is indicated from obtained results that the proposed technique can accurately and adaptively model nonlinearity and dynamics of underwater glider even in presence of hydrodynamic disturbances. Since the proposed identification U-model scheme is control oriented in nature, hence it can be further utilized to synthesize a simple law for depth and pitch control of glider. © 2015 Penerbit UTM Press. All rights reserved. |
| format |
Article |
| author |
Abbasi, I. Ali, S.S.A. Ovinis, M. Naeem, W. |
| spellingShingle |
Abbasi, I. Ali, S.S.A. Ovinis, M. Naeem, W. Adaptive identification of underwater glider using U-model for depth & pitch control under hydrodynamic disturbances |
| author_sort |
Abbasi, I. |
| title |
Adaptive identification of underwater glider using U-model for depth & pitch control under hydrodynamic disturbances |
| title_short |
Adaptive identification of underwater glider using U-model for depth & pitch control under hydrodynamic disturbances |
| title_full |
Adaptive identification of underwater glider using U-model for depth & pitch control under hydrodynamic disturbances |
| title_fullStr |
Adaptive identification of underwater glider using U-model for depth & pitch control under hydrodynamic disturbances |
| title_full_unstemmed |
Adaptive identification of underwater glider using U-model for depth & pitch control under hydrodynamic disturbances |
| title_sort |
adaptive identification of underwater glider using u-model for depth & pitch control under hydrodynamic disturbances |
| publisher |
Penerbit UTM Press |
| publishDate |
2015 |
| url |
https://www.scopus.com/inward/record.uri?eid=2-s2.0-84932637701&doi=10.11113%2fjt.v74.4813&partnerID=40&md5=b381de5f7dac609af9aff914e80db4ae http://eprints.utp.edu.my/31404/ |
| _version_ |
1741197567843106816 |
| score |
11.62408 |