Aplicação de controlador adaptativo baseado na teoria de Iyapunov e controlador PI em veículo submarino sujeito à perturbação de correntes marítimas variáveis

Abstract

Unmanned underwater vehicles operate in an environment characterized by its complex dynamics and numerous disturbances. The operation in a heterogeneous environment like this requires effective control systems that allow the vehicle to follow the desired reference vector even if it’s subject to the influence of external disturbances. In this context, this paper presents the comparison between an adaptive control law based on Lyapunov’s stability theory and a PI controller, both applied to the motion control of an unmanned underwater vehicle subject to disturbances. This work has considered disturbances caused by ocean currents while the vehicle is following a determined velocity reference vector. The objective is to compare the performance of both controllers in identical scenarios, considering different reference vectors and the interference of ocean currents. The presented results are simulation-based and its modeling has considered technical publications since there wasn’t a physical prototype available for sea experiments. Nevertheless, this study provides a great foundation in unmanned underwater vehicles’ control subject to ocean currents.