ADAPTIVE SYSTEM OF VERTICAL POSITIONING OF THE AUTONOMOUS UNDERWATER VEHICLEJournal: Science and world (Vol.1, No. 6)
Publication Date: 2014-02-28
Authors : Ivel V.P.; Gerasimova Yu.V.;
Page : 161-164
Keywords : autonomous underwater vehicle; adaptive control; parametrical identification; immersion depth.;
. The depth control system of immersion of the autonomous underwater vehicle (AUV), designed to drifting and autonomous self-propelled submersible is investigated in this article. The problem of identification of the AUV non-stationary hydrodynamic quantities is solved for the adaptive tuning of control algorithm of the AUV for increasing the accuracy of the APA to depth and minimizing power consumption by power units. The problem solution is based on using the device of parametrical identification.
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