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Adaptive output feedback control of MIMO AUV with unknown gain matrix

Nambisan P. R., Singh S. N.

Systems Science

2009

Vol. 35, no 2

5-10

This paper presents a model reference adaptive control (MRAC) system for the dive plane control of a multi-input, multi-output (MIMO) autonomous underwater vehicle (AUV). The vehicle is equipped with a bow and a stern hydroplane for the purpose of control. It is assumed that the system parameters including the high-frequency gain matrix are unknown. Based on the Lyapunov stability theory, an adaptive output feedback control law is derived for the trajectory control of the depth and pitch angle. For the design of the control law, SDU decomposition of the high-frequency gain matrix is used, and only the measured output variables (the depth and pitch angle) are used for the synthesis of the controller. Simulation results are presented which show that in the closed-loop system, depth and pitch angle trajectory tracking is accomplished in spite of the presence of parameter uncertainties.

Nonlinear robust output feedback control of submersibles via modeling error compensation

Nambisan P. R., Singh S. N.

Systems Science

2007

Vol. 33, no 4

27-35

This paper treats the design of a nonlinear robust dive-plane control system for multivariable submersibles equipped with bow and stern hydroplanes. It is assumed that the vehicle's parameters and the hydrodynamic coefficients are not known, and that disturbance forces due to the sea wave are acting on the vehicle. For the design, the depth and pitch angle are chosen as output variables. Using nonlinear input-output (pitch angle and depth) map inversion, a robust nonlinear output feedback control law for the trajectory control of the pitch angle and depth id derived. For synthesizing the robust inverse control law, the unknown functions and unmeasurable variables are estimated using a high-gain observer. It is shown that in the closed-loop system, the asymptotic tracking of the depth and pitch angle trajectories is accomplished. Simulation results are presented which show precise dive-plane maneuvers in spite of uncertainty in the system parameters and disturbance forces due to the sea waves.