Title :
Active reconfigurable control of a submarine with indirect adaptive control
Author :
Demirci, Ufuk ; Kerestecioglu, Feza
Author_Institution :
Dept. of Electr.-Electron. Eng., Turkish Naval Acad., Istanbul, Turkey
Abstract :
An indirect adaptive controller is designed for submersibles. The design is developed using a linearized MIMO model of a submarine. Standard recursive least squares estimation method is used to estimate the parameters. Depth and pitch angle of the submarine is controlled by means of the well-known indirect self-tuning method. In case of a system fault, estimated parameters of the submarine model have been used to update the controller coefficients.
Keywords :
MIMO systems; adaptive control; fault tolerance; oceanographic equipment; oceanographic techniques; position control; underwater vehicles; active control; controller coefficients; depth control; detection avoidance; fault tolerant control; indirect adaptive control; indirect adaptive controller; indirect self-tuning method; linearized MIMO model; parameter estimation; pitch angle; reconfigurable control; recursive least squares estimation; sea forces; sea moments; submarine; system faults; Adaptive control; Control systems; Design engineering; Differential equations; Least squares approximation; MIMO; Nonlinear equations; Parameter estimation; Sea surface; Underwater vehicles;
Conference_Titel :
OCEANS 2003. Proceedings
Conference_Location :
San Diego, CA, USA
Print_ISBN :
0-933957-30-0
DOI :
10.1109/OCEANS.2003.178302
