Switching Based Supervisory Control of Underwater Vehicles

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.