{"title":"Data-Driven Approach for Parameter Estimation and Control of an Autonomous Underwater Vehicle","authors":"Tabassum Rasul, Koena Mukherjee","doi":"10.4274/jems.2024.10438","DOIUrl":null,"url":null,"abstract":"This paper showcases a data-driven non-linear adaptive controller design employing an unfalsification approach to attain optimal estimates for unknown parameters in an autonomous underwater vehicle (AUV). These estimates are applied to the controller to enable precise trajectory tracking. The controller design presented is capable of adapting to parametric changes and uncertainties while fulfilling the desired performance criteria using an effective parameter update method of unfalsification. The results were validated through simulations conducted using MATLAB/SIMULINK","PeriodicalId":1,"journal":{"name":"Accounts of Chemical Research","volume":"355 10","pages":""},"PeriodicalIF":17.7000,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Accounts of Chemical Research","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.4274/jems.2024.10438","RegionNum":1,"RegionCategory":"化学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q1","JCRName":"CHEMISTRY, MULTIDISCIPLINARY","Score":null,"Total":0}
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Abstract
This paper showcases a data-driven non-linear adaptive controller design employing an unfalsification approach to attain optimal estimates for unknown parameters in an autonomous underwater vehicle (AUV). These estimates are applied to the controller to enable precise trajectory tracking. The controller design presented is capable of adapting to parametric changes and uncertainties while fulfilling the desired performance criteria using an effective parameter update method of unfalsification. The results were validated through simulations conducted using MATLAB/SIMULINK
期刊介绍：
Accounts of Chemical Research presents short, concise and critical articles offering easy-to-read overviews of basic research and applications in all areas of chemistry and biochemistry. These short reviews focus on research from the author’s own laboratory and are designed to teach the reader about a research project. In addition, Accounts of Chemical Research publishes commentaries that give an informed opinion on a current research problem. Special Issues online are devoted to a single topic of unusual activity and significance.
Accounts of Chemical Research replaces the traditional article abstract with an article "Conspectus." These entries synopsize the research affording the reader a closer look at the content and significance of an article. Through this provision of a more detailed description of the article contents, the Conspectus enhances the article's discoverability by search engines and the exposure for the research.
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