Real-time implementation of an adaptive depth controller for a submersible.

Abstract : An Autonomous Underwater Vehicle (AUV) is an unmanned submersible vehicle capable of performing a variety of missions. The AUV, which is the subject of this research, is a small prototype vehicle equipped with various control surfaces as well as telemetry devices which provide pertinent measurements of the vehicle states. This research is directed toward the development and implementation of a digital-control program which provides robust depth control of the vehicle. An adaptive parameter estimation routine is used to develop the model of the relationship between the actuator commands and vehicle response. State feedback is then provided using a variable-structure approach. The control algorithm has been implemented through a Turbo Pascal digital-control program executed on a PC/AT computer. Results of the parameter estimation routine and controller implementation are discussed. Keywords: Theses; Analog simulation; Experimental data.