The Autonomous Underwater Vehicle Adaptive Control Algorithm Based on Particle Filter

This paper presents adaptive tracking control algorithm based on particle filter for an autonomous underwater vehicle (AUV). The algorithm extends the model based control algorithm to reject disturbance forces. Particle filter is used to estimate disturbance forces, which are very common for the water environment and can be caused by hydrodynamics effect, an ocean current, and autonomous underwater vehicle parameters uncertainties. At the end of paper numeric simulation of movement AUV by spiral trajectory is presented to study effectiveness proposed estimation and control algorithms.