Multi-Input Submarine Control Via L1 Adaptive Feedback Despite Uncertainties

Document Type

Conference Proceeding


The development of a novel adaptive autopilot for the dive-plane control of multi-input multi-output submarines with unmodeled dynamics, based on the ℒ1 adaptive control theory, is the subject of this article. An ℒ1 adaptive autopilot is designed for the trajectory control of the depth and pitch angle using bow and stern hydroplanes. Interestingly, the structure of the adaptive controller remains fixed, regardless of the nonlinearities and external disturbance inputs, retained in the model of the submarine. Unlike the traditional adaptive control laws, the ℒ1 adaptive control input is generated by filtering the estimated control signal. A nice feature of the control law is that it is possible to achieve fast adaptation and desirable performance bounds in the closed-loop system by the choice of large adaptation gains. Simulation results are presented, which show that the autopilot accomplishes precise trajectory control in the dive plane, despite parametric uncertainties, unmodeled nonlinearities, and random disturbance inputs.


ℒ1 Adaptive submarine control; Autonomous underwater vehicle dive-plane control; Multi-input control; Nonlinear submarine control; Uncertain autonomous underwater vehicle control


Computer Engineering | Controls and Control Theory | Data Storage Systems | Digital Communications and Networking | Electrical and Computer Engineering | Electrical and Electronics | Engineering | Hardware Systems | Other Computer Engineering | Power and Energy | Signal Processing


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