Adaptive Control of Unmanned Underwater Vehicles with Time-Delayed Control Communications

MARIO A. JORDÁN; JORGE L. BUSTAMANTE; CARLOS E. BERGER

Buenos Aires, Argentina

Congreso; 23 Congreso Argentino de control Automático (AADECA'12); 2012

Asociación Argentina de Control Automático (AADECA)

In this paper we study the effects of time delays in the uncertain dynamics of Unmanned Underwater Vehicles (UUVs) controlled adaptively in 6 degrees of freedom. Accordingly to modern digital technology, the guidance, navigation and control systems are digitally linked by means of a control communication with complex protocols and converters. The appearance of delays originated in the communications may cause the instability in the guidance of UUV’s, with catastrophic results. The start point in the contribution is to contemplate the incidences of pure delays in the control performance but just too from the design on of a class of adaptive controllers which work with speed gradient laws. With the help of specific sign undefined terms present in the incremental functional energy employed in the design, we find the support to perform a stability analysis and to obtain guidelines for selecting appropriate sampling periods according to the tenor of perturbations and delay.