Patent ID: 8065046
Filing Date: 2011-11-22
Classification: B63G

Abstract:
1. A control system for maneuvering an underwater vehicle, said control system comprising: a propulsor system positioned on the underwater vehicle; and a controller operationally connected to said propulsor wherein said controller is capable recognizing at least two inferior olives wherein a first inferior olive of the inferior olives oscillates in synchronism with a predetermined delay time t and a phase angle corresponding to a second inferior olive of the inferior olives to resolve nonlinear functions in response to disturbances when maneuvering; wherein the inferior olives are controlled by synchronization of initial conditions of the first inferior olive and the second inferior olive wherein a controlled output variable is chosen as wherein a composite state vector for the inferior olives is defined as x wherein an input-output linearizing control law for the inferior olives programmable to the controller is selected by