Pitch-depth control of submarine operating in shallow water via neuro-adaptive approach

Abstract

This chapter presented a neuro-adaptive control for depth and pitch control of submarine operating in shallow waters. The control scheme is based on two neural-network (NN) units which are shown to be effective in attenuating the reconstruction error and other lumped system uncertainties. Stable on-line weight-tuning algorithms are derived based on Lyapunov's stability theory. Variable heading speed and changing center of gravity are taken into consideration in control design. Theoretical analyses and simulations prove the efficacy of the proposed control scheme in dealing with external disturbances as well as system nonlinearities, uncertainties, and parameter variations. © 2010 Springer-Verlag Berlin Heidelberg.