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arXiv · 2204.00935

3D Path Following and L1 Adaptive Control for Underwater Vehicles

Nicholas Rober·Maxwell Hammond·Venanzio Cichella·Juan E. Martin·Pablo Carrica
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Abstract

This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight path-following algorithm is used to guide the vehicle along a three-dimensional path, and an $\mathcal{L}_1$ adaptive control algorithm is used to determine the low-level rudder commands to accomplish path following. The performance bounds of these outer- and inner-loop control algorithms are presented. Numerical results obtained using a physics-based Simulink model are used to aid in visualization of the control algorithm's performance.

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Nicholas Rober, Maxwell Hammond, Venanzio Cichella, Juan E. Martin, Pablo Carrica. 2022-04-02. 3D Path Following and L1 Adaptive Control for Underwater Vehicles. https://doi.org/10.1016/j.oceaneng.2022.110971

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