Noncertainty-equivalent multi-variable adaptive control of submersibles using filtered signals

► Noncertainty-equivalent adaptive control system designed for submersibles. ► Control system includes control module and identifier designed separately. ► Dive-plane maneuver achieved despite parameter uncertainties and disturbances. ► Trajectories converged to a manifold and recovered performance of known controller. ► Published certainty-equivalent AUV controllers lack features of this controller.