Adaptive control with decoupling algorithm for the hovering submarines

A new adaptive decoupling control algorithm is presented for a family of complex MIMO systems with strong couplings and severe nonlinearity such as the hovering submarines. The couplings between different channels are decoupled with the modified Feedback Decoupling Control Algorithm (MFDC), and the subsystems is adjusted with the online parameters estimation algorithm based on the neural networks algorithm(NN), thereby the algorithm can effectively decouple the complex systems while enhancing the accuracy and robustness of the control system. Results of the simulation of hovering submarine demonstrate the effectiveness of this approach.