Adaptive Output Feedback Control of MIMO AUV With Unknown Gain Matrix

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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.


Adaptive control systems; Autonomous underwater vehicle; AUV control; Lyapunov-based design; Matrix gain factorization; Multivariable systems; Remote submersibles – Control systems


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