Steering Control Algorithms for a Submersible

This paper describes the algorithm design of a steering system for control of the depth and the course of a manned submersible.The control algorithms will be implemented into a general purpose military computer system which enables application of control techniques such as: optimal linear quadratic control;feed forward control and mode switching;gain scheduling for the speed;adaptive Kalman filtering;estimation of slowly varying disturbances. The decoupled course and depth control algorithms use simplified control models, respectively based upon a fourth order linear approach of the depth behaviour and an extended first order Nomoto model for the course behaviour.