Model Reference Adaptive Control of Underwater Robotic Vehicle in Plane Motion

Abstract

Abstract:- A paper describes a method of motion control of the underwater robotic vehicle to the problem of trajectory tracking. A multidimensional non-linear model expresses the robot’s dynamics. Command signals are generated by an autopilot consisting of three independent controllers with a parameter adaptation law implemented. A quality of control is concerned without and in presence of environmental disturbances. The paper includes selected results of computer simulations to illustrate effectiveness of the proposed control system.