Control of Yaw motion of nonlinear unmanned underwater vehicle over wireless network

The paper investigates the control performance of yaw motion of nonlinear semi autonomous Unmanned Underwater Vehicle (UUV) based on Model Reference Adaptive Control (MRAC). The mathematical model of a semi-autonomous UUV called LAURS, which is developed by Sensors and Actuators Laboratory at University of Sao Paolo. We designed the controller outside of UUV and used wireless network to transmit the data from and to UUV. The is applied to MRAC to compensate dynamic system and provide the stabilization. There is time delay to transmit and receive data over wireless network. We compared the proposed control performance to control the UUV with varying scenarios of different distance between UUV and controller. The proposed control design is able to control the system.