# ADAPTIVE CONTROL OF A SUBMARINE FOR VARIOUS DIVING DEPTHS USING AN EXPONENTIAL FUNCTION

## Authors

• Fawaz F. Al-Bakri Department of Biomedical Engineering, College of Engineering, University of Babylon, Babylon, Iraq
• Hasan H. Ali Directorate of Studies, Planning, and Follow-up, Ministry of Higher Education and Scientific Research, Bagdad, Iraq
• Salwan Obaid Waheed Khafaji Mechanical Engineering Department, College of Engineering, University of Babylon, Babylon, Iraq

## Keywords:

Adaptive control, analytical controller, Monte Carlo simulation

## Abstract

Due to the progress of deep submergence capabilities, a submarine is extensively employed on many sides of marine science. For that reason, it has become necessary to design an effective submarine position controller while achieving a fast and stable mission. An adaptive analytical scheme for the underwater submarine was developed. The main purpose of the adaptive analytical scheme is to provide a powerful analytical controller that can successfully steer the submarine from the current state under the water to the surface of water in a short time. To achieve that, a seventh-term exponential function was proposed to reshape the reference diving depth while maintaining the control variable limitation and satisfying initial and final boundary conditions. The direct search method with two cascade loops was employed to achieve a minimum cost function by determining an appropriate constant of the function and minimum final time. However, using the direct search method can be time-consuming since a number of algebraic operations are executed inside these two loops. Therefore, the curve fitting method was used to fit the set of direct search method data using power functions. Then, at a certain diving depth, the function coefficients were computed based on the final settling time and function constant using the Gaussian elimination method. A nominal numerical simulation of the submarine’s model was implemented using both adaptive analytical and linear controllers.

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2024-06-02

## Section

Science and Engineering

## How to Cite

ADAPTIVE CONTROL OF A SUBMARINE FOR VARIOUS DIVING DEPTHS USING AN EXPONENTIAL FUNCTION. (2024). Jurnal Teknologi, 86(4), 79-86. https://doi.org/10.11113/jurnalteknologi.v86.21383