DESIGN OF AN ADAPTIVE CONTROLLER FOR SUBMERSIBLES VIA MULTIMODEL GAINSCHEDULING

An adaptive autopilot for submarines via gain scheduling is introduced . The procedure used in the design is based on the stochastic controll er and observer techniques. The autopilot is designed to operate in va rious sea conditions. Steady-state estimator gains corresponding to di fferent wave heights are calculated and utilized in estimating the rea l wave height by switching the gain sets. Since large perturbations re quire large hydroplane angles which cannot be realizable due to their physical limits, different controller gain sets are employed for the a ppropriate operation of the hydroplanes. The presented controller is n ot confined to a particular sea state, and possesses robustness agains t possible changes in the external environment, exploiting the multimo del representation of the sea state.