Application of the Optimal Adaptive Model-Free Control Algorithm on an Autonomous Underwater Vehicle

In this paper, the recently developed optimal adaptive model-free control (OAMFC) algorithm is applied to a dynamic model of an autonomous underwater vehicle (AUV), which is considered as a completely unknown non-linear dynamic system. The OAMFC algorithm includes two regressor-free estimators for on-line adaptation of the unknown nonlinearities in the dynamic system. Moreover, the algorithm includes an optimal term, which provides the optimal solution for tracking problem by minimizing a predefined objective function. The simulation results for implementation of the OAMFC algorithm on the proposed dynamic model of the AUV are presented, which show the appropriate performance of the algorithm.