Adaptive control simulation for multiagent autonomous underwater cleaning robot

Amran, Y ; Mohd Razali, N S ; Isa, K

Abstract

The purpose of this research is to develop an adaptive control system for multiagent autonomous underwater cleaning robots that can handle problems that occur due to large areas of underwater environment cleaning operations, single robot challenges, and ineffective tactics that could cause a system failure. Therefore, the purpose of the research is to develop an adaptive control system for multiagent autonomous underwater cleaning robots that can be used to handle difficulties such as underwater environment cleanliness, single robot issues, and avoiding ineffective approaches that might cause system failure. This research used the MATLAB and Simulink tools to create an adaptive control system and simulate the designed controller with various unknown parameters and disturbances. The results demonstrate the adaptivity, adjustability, and stability of the multiagent underwater cleaning robot’s adaptive control system to cope with the underwater environment’s situations such water current using simulation.


Keyword(s)

Adaptive control system, Autonomous underwater vehicle, Cleaning robots, Multiagent, Triangular-shaped underwater vehicle

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