This paper presents the development of unmanned marine robotic control modelling and control synthesis using a coupled multivariable underactuated nonlinear adaptive U-model approach. The proposed controller was developed using thru an open source robot operating system (ROS) platform. The new adaptive coupled U-model based internal model control (IMC) node was successfully developed and tested. The proposed controller demonstrated the simplicity of the control synthesis process and the implementation of the mathematical algorithm in real-time. The controller was compared with the proven existing GIRONA 500 UUV for real-time performance. The ROS environment provides fast and reliable controller design and development compared to conventional software architecture. Simulation and real-time experiment were conducted using ROS via the GIRONA 500 UUV platform and compared with a PID mission controller. A new ROS node of nonlinear adaptive U-model based IMC was developed using ROS. The results showed good control signal convergence and tracking performance between the plant or system model with the proposed method.

中文翻译：

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使用机器人操作系统在无人水下航行器上实现非线性自适应 U 模型控制综合

本文介绍了使用耦合多变量欠驱动非线性自适应 U 模型方法开发无人海洋机器人控制建模和控制综合。所提出的控制器是使用开源机器人操作系统 (ROS) 平台开发的。新的基于自适应耦合 U 模型的内部模型控制 (IMC) 节点已成功开发和测试。所提出的控制器证明了控制综合过程的简单性和数学算法的实时实现。该控制器与经过验证的现有 GIRONA 500 UUV 的实时性能进行了比较。与传统的软件架构相比，ROS 环境提供了快速可靠的控制器设计和开发。使用 ROS 通过 GIRONA 500 UUV 平台进行仿真和实时实验，并与 PID 任务控制器进行比较。使用 ROS 开发了基于 IMC 的非线性自适应 U 模型的新 ROS 节点。结果表明，所提出的方法在被控对象或系统模型之间具有良好的控制信号收敛和跟踪性能。