Auto-tuning of a modified L1-adaptive controller with genetic algorithms for dynamic positioning of a remotely operated vehicle under marine currents

• Autorzy: Sainz Jose Joaquin , Becerra Victor , Revestido-Herrero Elías , Llata Jose Ramon , Alonso-Rentería Luciano

Identyfikatory

DOI

10.2478/pomr-2025-0026

• Języki publikacji: EN

Abstrakty

EN

In this article, a modified L1-adaptive controller with auto-tuning using a genetic algorithm is presented for dynamic positioning of remotely operated vehicles (ROVs) under marine currents, based on a six-degree-of-freedom Nonlinear model of an ROV. To enable tuning of some of the parameters of the controller, a cost function related to the error of the steady state positions of the system is minimised with the use of the genetic algorithm. A series of simulations are conducted to ascertain the performance of the system with the implemented controller, taking into consideration the vehicle position, orientation, and control signals sent as commands to the thrusters. The simulations are carried out with noise levels representative of those encountered by the standard underwater instrumentation on an ROV, as well as with underwater current velocities. In addition, the results are compared with those of a classical controller to verify the improvements offered by the controller proposed in this paper.

Słowa kluczowe

EN

auto-tuning; dynamic positioning; genetic algorithm; modified L1-adaptive; ROV

• Wydawca: Gdańsk University of Technology, Faculty of Ocean Engineering & Ship Technology
• Czasopismo: Polish Maritime Research
• Rocznik: 2025
• Tom: nr 2
• Strony: 115--123
• Opis fizyczny: Bibliogr. 21 poz., rys., tab.

Twórcy

autor

Sainz Jose Joaquin

• Departamento de Tecnología Electrónica, Ingeniería de Sistemas y Automática, Universidad de Cantabria, Santander, Spain

• https://orcid.org/0000-0001-7544-7147

autor

Becerra Victor

• School of Energy and Electronic Engineering, University of Portsmouth, Portsmouth, United Kingdom

• https://orcid.org/0000-0002-3790-4236

autor

Revestido-Herrero Elías

• Departamento de Tecnología Electrónica, Ingeniería de Sistemas y Automática, Universidad de Cantabria, Santander, Spain

• https://orcid.org/0000-0001-5374-2858

autor

Llata Jose Ramon

• Departamento de Tecnología Electrónica, Ingeniería de Sistemas y Automática, Universidad de Cantabria, Santander, Spain

• https://orcid.org/0000-0002-6514-5847

autor

Alonso-Rentería Luciano

• Departamento de Tecnología Electrónica, Ingeniería de Sistemas y Automática, Universidad de Cantabria, Santander, Spain

• https://orcid.org/0000-0002-2196-4381

Bibliografia

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Uwagi

Opracowanie rekordu ze środków MNiSW, umowa nr POPUL/SP/0154/2024/02 w ramach programu "Społeczna odpowiedzialność nauki II" - moduł: Popularyzacja nauki i promocja sportu (2025).