Adaptive optimal control of an autonomous underwater vehicle in the dive plane using dorsal fins |
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| Authors: | Mukund Narasimhan Sahjendra N Singh |
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| Institution: | Department of Electrical and Computer Engineering, University of Nevada, Las Vegas, 4505 Maryland Parkway, NV 89154-4026, USA |
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| 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. |
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| Keywords: | BAUV control Dorsal fin control Adaptive control |
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