Control-Oriented Modelling of Spatial Motion of Autonomous Underwater Vehicle

Abstract:

Modelling of three-dimensional motion of an underwater vehicle along a time-varying reference trajectory with predefined speed profiles is presented in the paper. A nonlinear mathematical model with unknown nonlinearities describes the vehicle’s dynamics. Command signals are generated by an adaptive autopilot consisting of three independent controllers with a parameter adaptation law implemented. A control performance is guaranteed by suitably choosing design parameters. Selected results of computer simulations are inserted to demonstrate quality and effectiveness of the approach.

• Periodical: Solid State Phenomena (Volume 196)
• Pages: 109-116
• DOI: https://doi.org/10.4028/www.scientific.net/SSP.196.109
• Online since: February 2013
• Authors: Jerzy Garus
• Keywords: Adaptive Control, Modeling, Underwater Vehicle

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