Active Reconfigurable Control of a Submarine With Indirect Adaptive Control

Abstract

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.