OPTIMAL AND ADAPTIVE-CONTROL OF UNDERWATER VEHICLES

This article contains a continuous-time optimal and adaptive control s cheme for underwater vehicles moving in six degrees of freedom. The co ntrol scheme is an extension of the algorithm of Johansson (1990) and a modification of the algorithm found in Sagatun (1992). The algorithm is optimal in the sense that it minimizes the state errors and the fo rces which contribute to the vehicle's kinetic energy that is spent to correct these errors. The performance measure does also contain a ter m which penalizes the quadratic tracking errors proportional to the ra te of energy which dissipates from the system due to damping.