Underwater vehicles operate in dynamical environments where sudden changes of the working conditions occur from time to time. The need for an effective control action calls for refined techniques with a high degree of robustness with respect to large parametric variations and/or uncertainties. Supervised switching control gives the theoretical framework where appropriate control strategies can be developed. Both the switching algorithms proposed here are based on a multiple models approach to describe the different operating conditions.
Switching Based Supervisory Control of Underwater Vehicles / Ippoliti, Gianluca; Ietto, Leopoldo; Longhi, Sauro. - (2006), pp. 105-125. [10.1049/PBCE069E_ch6]