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Figure 7: Performance of the proposed controller towards external disturbances test. (Up- per) Trajectory tracking in depth and yaw: The 1 kg block is attached to the submarine which produced disturbances at 8 and 35 seconds when the block touches and takes off the floor, respectively. (Middle) Plots of the error signal. (Lower) Evolution of the control inputs.

Figure 7 Performance of the proposed controller towards external disturbances test. (Up- per) Trajectory tracking in depth and yaw: The 1 kg block is attached to the submarine which produced disturbances at 8 and 35 seconds when the block touches and takes off the floor, respectively. (Middle) Plots of the error signal. (Lower) Evolution of the control inputs.

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Table 3: Adaptive control gains used in real-time experiments
Table 3: Adaptive control gains used in real-time experiments
Figure 2: Performance comparison of the GSTA (blue line) and the adaptive GSTA (red line). (Upper) Trajectory tracking in depth and yaw in absence of disturbances. (Middle) Plots of the error signal. (Lower) Evolution of the control inputs.
Figure 2: Performance comparison of the GSTA (blue line) and the adaptive GSTA (red line). (Upper) Trajectory tracking in depth and yaw in absence of disturbances. (Middle) Plots of the error signal. (Lower) Evolution of the control inputs.
Figure 3: Evolution of the adaptive controller gains. (Upper) Updating of the gains for depth trajectory tracking. (Lower) Evolution of the gains for the yaw trajectory tracking test.
Figure 3: Evolution of the adaptive controller gains. (Upper) Updating of the gains for depth trajectory tracking. (Lower) Evolution of the gains for the yaw trajectory tracking test.
Figure 4: Robustness of the GSTA (blue line) and the Adaptive GSTA (red line) controller performance towards parametric uncertainties. The floatability of the submarine was increased 200% while the damping along z-axis was modify up to 90% respect the nominal case.
Figure 4: Robustness of the GSTA (blue line) and the Adaptive GSTA (red line) controller performance towards parametric uncertainties. The floatability of the submarine was increased 200% while the damping along z-axis was modify up to 90% respect the nominal case.
Figure 5: Evolution of the adaptive controller gains. (Upper) Updating of the gains for depth trajectory tracking. (Lower) Evolution of the gains for the yaw trajectory tracking test.
Figure 5: Evolution of the adaptive controller gains. (Upper) Updating of the gains for depth trajectory tracking. (Lower) Evolution of the gains for the yaw trajectory tracking test.
Figure 8: Evolution of the adaptive controller gains. (Upper) Updating of the gains for depth trajectory tracking. (Lower) Evolution of the gains for the yaw trajectory tracking test.
Figure 8: Evolution of the adaptive controller gains. (Upper) Updating of the gains for depth trajectory tracking. (Lower) Evolution of the gains for the yaw trajectory tracking test.
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Civil EngineeringOcean EngineeringComputer Science
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