Abstract
Modelling of three-dimensional motion of an underwater vehicle along a time-varying reference trajectory with predefined speed profiles is presented in the paper. A nonlinear mathematical model with unknown nonlinearities describes the vehicle’s dynamics. Command signals are generated by an adaptive autopilot consisting of three independent controllers with a parameter adaptation law implemented. A control performance is guaranteed by suitably choosing design parameters. Selected results of computer simulations are inserted to demonstrate quality and effectiveness of the approach.
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