OPTIMAL AND ADAPTIVE-CONTROL OF UNDERWATER VEHICLES

This article contains a continuous-time optimal and adaptive control s cheme for underwater vehicles moving in 6 d.o.f. The control scheme is an modification of the algorithm of Johansson. The algorithm is optim al in the sense that it minimizes the state errors and the forces whic h contribute to the vehicle's kinetic energy that is spent to correct these errors. The performance index also penalizes the quadratic track ing errors proportional to the rate of energy dissipated from the syst em as an effect of damping.