Adaptive output feedback control of a spheroidal underactuated underwater vehicle

V. Stepanyan, N. Hovakimyan, C. A. Woolsey

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Adaptive output feedback is applied to an uncertain model of an underactuated underwater vehicle. The vehicle is modelled as a neutrally buoyant, prolate spheroid moving in the longitudinal plane. The two inputs are thrust along the symmetry axis and pitch moment. A linear reference model, which has the same vector relative degree of the system, is designed by linearizing the vehicle dynamics about a trim condition. A linear dynamic compensator is developed for the reference model, causing it to track a given bounded reference command. The input is augmented with an adaptive element and this adaptive control law is applied to the nonlinear system. The adaptive control law is realized using a linearly parameterized neural network which operates over a finite sample of the input-output history.

Original languageEnglish (US)
Title of host publicationProceedings of MTS/IEEE OCEANS, 2005
StatePublished - 2005
Externally publishedYes
EventMTS/IEEE OCEANS, 2005 - Washington, DC, United States
Duration: Sep 18 2005Sep 23 2005

Publication series

NameProceedings of MTS/IEEE OCEANS, 2005


Country/TerritoryUnited States
CityWashington, DC

ASJC Scopus subject areas

  • Engineering(all)


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