Adaptive filter applications to autonomous underwater vehicle

A powerful adaptive filter algorithm for estimation of forces acting on an Autonomous Underwater Vehicle (AUV) and the corresponding adaptive control law which determines the desired heading commands are considered in this paper. Due to the complicated nature of AUV's task and incorporation of the ocean current, uncertain parameters arise in the equations of motion that constitute the AUV's dynamic model. Based on the Lainiotis Partitioning Theory, a highly adaptive scheme is used to estimate the velocity components for controlling the vehicle. Extensive simulations demonstrate the robustness and the effectiveness of the new scheme in a variety of different environments.<>