A Digital Speed-Gradient Adaptive Control System for Underwater Vehicle Dynamics in Many Degrees of Freedom

JORDAN, MARIO; BUSTAMANTE, JORGE

Shanghai, China

Congreso; 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference; 2009

IEEE Control Systems Society (CSS), Chinese Automation Association (CAA)

In this paper a digital adaptive algorithm for path tracking of underwater vehicles in many degrees of freedom (up to six) was presented. It is based on speed-gradient laws and sampled-data models constructed with Adams-Bashforth approximations. Here it is assumed that no knowledge is required of the matrices of the Coriolis and centripetal forces, buoyancy, linear and quadratic damping. An analysis of stability for the path tracking problem is presented in which an optimal and, alternatively, a suboptimal control action are employed. The features of the approach are illustrated by means of a numerically simulated case study of a 6-degrees-of-freedom underwater vehicle maneuvering in the water column and sea bottom.