An Adaptive Law for Guidance and Control of Remotely Operated Vehicles

At steady state autonomous underwater vehicles need to compensate for two dynamic effects, the ocean current and the restoring forces; the appropriateness of the adaptive/integral action designed with respect to those persistent effects has been discussed in the literature with respect to 6-degrees-of-freedom controllers. In this paper an adaptive controller, originally designed for full vehicle motion, is properly tailored so that it may be conveniently used for remotely operated vehicles commanded in surge, sway and yaw motion. Numerical simulations confirm the efficiency of the proposed controller