The Synthesis of Multi-Channel Adaptive Control System for the Autonomous Underwater Robot
نویسنده
چکیده
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. Application of synthesized control laws provides high control quality at any variations of the object parameters within the given ranges. The efficiency of synthesized control system is confirmed by numerical simulation results. Index Terms -Adaptive Control System, Reference Model, Self-Adjustment, Underwater Vehicle
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