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

Volume

5

fYear

2003

fDate

22-26 Sept. 2003

Firstpage

2491

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;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2003. Proceedings

Conference_Location

San Diego, CA, USA

Print_ISBN

0-933957-30-0

Type

conf

DOI

10.1109/OCEANS.2003.178302

Filename

1282942