DESIGN OF AN ADAPTIVE CONTROLLER FOR SUBMERSIBLES VIA MULTIMODEL GAIN SCHEDULING

An adaptive autopilot for submarines via gain scheduling is introduced. The procedure used in the design is based on the stochastic controller and observer techniques. The autopilot is designed to operate in various sea conditions. Steady-state estimator gains corresponding to different wave heights are calculated and utilized in estimating the real wave height by switching the gain sets. Since large perturbations require large hydroplane angles which cannot be realizable due to their physical limits, different controller gain sets are employed for the appropriate operation of the hydroplanes. The presented controller is not confined to a particular sea state, and possesses robustness against possible changes in the external environment, exploiting the multimodel representation of the sea state.

  • Supplemental Notes:
    • Ocean Engng, v 22 n 6, Aug 1995, p 593 [22 p, 3 ref, 1 tab, 11 fig]
  • Authors:
    • Dumlu, D
    • Istefanopulos, Y
  • Publication Date: 1995

Language

  • English

Subject/Index Terms

Filing Info

  • Accession Number: 00717437
  • Record Type: Publication
  • Source Agency: British Maritime Technology
  • Files: TRIS
  • Created Date: Mar 4 1996 12:00AM