Cascaded Adaptive Control of Ocean Vehicles with Signiicant Actuator Dynamics Dr.ing Ee, M.sc Naval Architecture Assistant Professor Cascaded Adaptive Control of Marine Vehicles with Significant Actuator Dynamics

This paper presents a cascaded adaptive control scheme for marine vehicles where the nonlinear equations of motion include a model of the actuator dynamics. The adaptive controller does not require the parameters of the vehicle dynamics and the actuator time constants known a priori. Both the velocity and position tracking errors are shown to converge to zero by applying Barbb alat's lemma. Furthermore, all parameter estimates are shown to be bounded. Computer simulations of a remotely operated vehicle (ROV) is used to illustrate the design methodology.