Performance-Related Optimal Autotuning in Adaptively Guided Subaquatic Vehicles

JORDAN, MARIO; BUSTAMANTE, JORGE

Bahía Blanca, Argentina

Jornada; Jornadas Argentinas de Robótica (JAR’08); 2008

Universidad Nacional del Sur

In this paper, a procedure for optimal tuning of direct adaptive control for underwater vehicles was developed and illustrated by a simulated case study in 6 degrees of freedom. The core of the method is devoted to establish an excitation during a commissioning phase in order to tune gradually the adaptive control design matrices and without causing the vehicle vulnerable to possible collisions. A step-by-step optimizing procedure is developed for global search in the optimizing parameters. Conditions for achievement of an optimum are presented. Practical application possibilities were discussed in the light of the presented results.