Control of UUVs Based upon Mathematical Models Obtained from Self-Oscillations Experiments

The paper describes the use of self-oscillation identification method for controller design for underwater vehicles. Using the proposed algorithm both linear and nonlinear models can be obtained. In addition to that, the algorithm enables identification of the bias term that appears due to currents (in yaw models) and difference between weigh and buoyancy (in heave models). A detailed stability analysis has been performed for the proposed controller which is either linear or nonlinear based on the assumption on the process model. Simulation results are presented for two underwater vehicles.