A Structure and Principle of Operation of the Adaptive Control System of the Underwater Vehicle Motion
There are two characteristic states of an underwater vehicle. The first one is a state of manoeuvring during searching and approaching the target and the second one is a state of keeping at constant distance above or to the target. In the paper some aspects of an optimal control of the vehicle are considered. The main assumption is that the non-linear mathematical model describing its motion can be replaced by the linear model. The identification of parameters of the linear model enables calculation of quasi optimal control signals, that taking into account the influence of external perturbations, drive the vehicle along the given trajectory. The structure description, principle of operation of the adaptive control system and results of computer simulation are presented.
KeywordsState Vector Underwater Vehicle Command Signal Virtual Mass Adaptive Control System
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