Optimal and Adaptive Control of Underwater Vehicles

This article contains a continuous-time optimal and adaptive control scheme for underwater vehicles moving in six degrees of freedom. The control scheme is an extension of the algorithm in Johansson (1990). The algorithm is optimal in the sense that it minimizes the state errors and the forces which contributes to the vehicle’s kinetic energy that is spend to correct these errors. The performance measure does also contain a term which penalizes the quadratic tracking errors proportional to the rate of energy which dissipates from the system due to damping