An Approach to Adaptive Control with State/Disturbance Observer for Autonomous Subaquatic Vehicles

JORDAN, MARIO ALBERTO; BUSTAMANTE, JORGE

Sheraton, Buenos Aires, Argentina

Conferencia; XXº Congreso Argentino de Control Automático; 2006

Asociación Argentina de Control Automático

In this paper the design of a nonlinear adaptive control system for generic autonomous underwater vehicles in 6 degrees of freedom is presented. Both the positioning and cinematic tracking-problem are dealt with jointly in the adaptive approach. No knowledge about parameters of the vehicle dynamics and hydrodynamics is required beforehand for the design. The adaptation was carried out through a nonlinear speed-gradient adaptive control law. The dynamics of thrusters is considered in the design by employing an inverse-dynamics technique and state/disturbance observation. The proof of the asymptotic convergence of the overall controlled system is presented. Selected numerical simulations depict the goodness of the proposed approach.