Modeling Unmanned Submarine by an Adaptive Control to Follow an Ellipse Path by Considering Disturbances on the System
AbstractRecent advances in the robotics industry and the design of controllers in sync with the structure of robots have made it possible to use robotic systems in exploration, information display in human-difficult environments, military, medical, and human life-saving purposes. The accuracy and robustness of the path tracking is essential for the use of robots for such purposes. In this article, the modeling of the underwater robot is done and the adaptive control system is presented to track the path of the robot. Submarine robots have a non-linear dynamic with dynamic and kinematic uncertainties and excess force terms due to the robot's entry into the sea, and the controller designed for the system must be able to overcome these forces and be able to estimate the terms It is required to control the robot so that the control system can use this information to eliminate the effects of the stated uncertain terms. The results showed that the designed control system was able to predict and travel the target path with an error of less than 5% despite the presence of unconventional forces and external disturbances in the model.