Adaptive Optimal Control of an Autonomous Underwater Vehicle in Dive Plane Using Dorsal Fins

Document Type

Article

Publication Date

4-2006

Publication Title

Ocean Engineering

Volume

33

First page number:

404

Last page number:

416

Abstract

In this paper, adaptive control of low speed bio-robotic autonomous underwater vehicles (BAUVs) in the dive plane using dorsal fins is considered. It is assumed that the model parameters are completely unknown and only the depth of the vehicle is measured for feedback. Two dorsal fins are mounted in the horizontal plane on either side of the BAUV. The normal force produced by the fins, when cambered, is used for the maneuvering. The BAUV model considered here is non-minimum phase. An indirect adaptive control system is designed for the depth control using the dorsal fins. The control system consists of a gradient based identifier for online parameter estimation, an observer for state estimation, and an optimal controller. Simulation results are presented which show that the adaptive control system accomplishes precise depth control of the BAUV using dorsal fins in spite of large uncertainties in the system parameters.

Keywords

Adaptive control systems; BAUV control; Biomimicry; Dorsal fin control; Hydrodynamics; Remote submersibles – Control systems

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