Multi-input submarine control via L1 adaptive feedback despite uncertainties

Abstract. The development of a novel adaptive autopilot for the dive-plane control of multi-input multi-output submarines with unmodeled dynamics, based on the L1 adaptive control theory, is the subject of this article. An L1 adaptive autopilot is designed for the trajectory control of the depth and pitch angle using bow and stern hydroplanes. Interestingly, the structure of the adaptive contr…