Control-oriented modelling of spatial motion of autonomous underwater vehicle

摘要

Modelling of three-dimensional motion of an underwater vehicle along a time-varying reference trajectory with predefined speed profiles is presented in the paper. A nonlinear mathematical model with unknown nonlinearities describes the vehicle's dynamics. Command signals are generated by an adaptive autopilot consisting of three independent controllers with a parameter adaptation law implemented. A control performance is guaranteed by suitably choosing design parameters. Selected results of computer simulations are inserted to demonstrate quality and effectiveness of the approach.