Active reconfigurable control of a submarine with indirect adaptive control

U. Demirci, F. Kerestecioglu
2003 Oceans 2003. Celebrating the Past ... Teaming Toward the Future (IEEE Cat. No.03CH37492)  
An indirect adaptive controller is designed for submersibles. The design is developed using a linearized MIMO model of a submarine. Standard recursive least squares estimation method is used to estimate the parameters. Depth and pitch angle of the submarine is controlled by means of the well-known indirect self-tuning method. In case of a system fault, estimated parameters of the submarine model have been used to update the controller coefficients.
doi:10.1109/oceans.2003.178302 fatcat:7nzlap4dwngwfdxaeobzthul4q