Guidance of Underwater Vehicles with Cable Tug Perturbations Under Fixed and Adaptive Control Modus

MARIO ALBERTO JORDÁN; JORGE LUIS BUSTAMANTE

IEEE Journal of Oceanic Engineering

IEEE Oceanic Engineering Society

Año: 2008 vol. 33 p. 579 - 598

0364-9059

This paper is concerned with the study of guidance of underwater vehicles subject to cable perturbations due to action of currents and harmonic waves. The general case involves a variable cable length which is usually deployed during vehicle tactics. Control situations are considered, namely, trajectory tracking and position regulation when the reference trajectory for the vehicle is given beforehand. To this end, a control system is designed with adaptive features. A great effort is made in the paper for modelling the cable dynamics in a quasi-stationary state. This model can serve the operator to compensate the perturbation automatically during the teleoperation. Moreover, in the adaptive modus, the perturbation is filtered automatically without having to embed the cable model in the controller design. Effects of the cable perturbation on the control system in adaptive and fixed modus are analyzed comparatively. Proofs of convergence to the tracking error to a residual set are given rigorously in the framework of total stability. The features of the controlled behavior are illustrated by numerical simulations in a case study in 6 degrees of freedom.