Nonparametric model adaptive control for underwater towed heave compensation system
水下拖曳升沉补偿系统的非参数模型自适应控制

In the underwater towed system, the depth variation of the towed body increases dramatically with the velocity changes and the heave motions of the towed ship in the ocean. To compensate the depth changes of the towed body, we propose an integrated control scheme which is composed of the external depth-heave compensation and the inner positionservo control. The external depth-heave compensation controller is designed by using the nonparametric model adaptive control approach which is based on a dynamic linearization of tight format. The simulation study demonstrates that the nonparametric-model-adaptive-control applied to the underwater towed heave-compensation system has excellent dynamic performance and disturbance-rejection capability.