Title :
Parameter adaptive control of deep submergence vehicles
Author :
Monopoli, R.V. ; Hsing, C.C.
Author_Institution :
University of Massachusetts, Amherst, MA, USA
Abstract :
A model reference parameter adaptive control system is designed for a deep submergence vehicle (DSV) using Liapunov´s direct method. This algorithm is applied to the nonlinear equations describing the two-dimensional motion of a DSV. The results of a digital computer simulation are presented which substantiate the theoretical predictions. A comparison is made between the parameter adaptive controller and an input signal controller previously reported, and significant advantages are noted.
Keywords :
Adaptive control; Asymptotic stability; Convergence; Gravity; Linear systems; Nonlinear systems; Programmable control; Signal design; Torque; Vehicles;
Conference_Titel :
Engineering in the Ocean Environment, Ocean 72 - IEEE International Conference on
Conference_Location :
Newport, RI, USA
DOI :
10.1109/OCEANS.1972.1161199
