The multi-dimensional adaptive control system with reference model for the AUV

The new method of the synthesis of multidimensional adaptive control system with reference model self-adjustment for the centralized control of the spatial motion of autonomous underwater vehicles is developed in this paper. The conditions of the self-adjustment process stability with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The application of synthesized control laws allow to provide the high control quality at any variations of the object parameters within the given ranges. The amplitude of self-adjustment signal and energy losses in self-adjustment loop are reduced essentially in the proposed control system. The efficiency of control laws is confirmed by numerical simulation results.