Optimal and adaptive control of underwater vehicles

摘要

This article contains a continuous-time optimal and adaptive control scheme for underwater vehicles moving in 6 d.o.f. The control scheme is an modification of the algorithm of Johansson. The algorithm is optimal in the sense that it minimizes the state errors and the forces which contribute to the vehicle's kinetic energy that is spent to correct these errors. The performance index also penalizes the quadratic tracking errors proportional to the rate of energy dissipated from the system as an effect of damping.