Adaptive Identification and Control of an Autonomous Underwater Vehicle

1 January 1989

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

p. 563-572
https://doi.org/10.1109/uust.1989.754748

Abstract

An adaptive controller for dive maneuvering of a submersible is presented. Main feature is that it performs adaptive pole placement of the closed loop system, based on the estimated dynamics. While the linear compensator adapts in the presence of changing operating conditions, a nonlinear controller along the lines of the Variable Structure (VS) approach guarantees robustness in the presence of nonlinearities and unmodelled dynamics.

Keywords

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