Patent ID: 8065046

Claim:
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 e ( t )= h u ( x 1 ( t ), x 2 ( t−t d ))= u 1 ( t )−u 2 ( t−t d ) wherein a composite state vector for the inferior olives is defined as x a (t)=(x 1 (t) T , x 2 (t−t d ) T ε R 8 and a vector field is defined by L f ⁢ h u ⁡ ( x a ⁡ ( t ) ) = ∂ h ∂ x a ⁢ f ⁡ ( x a ⁡ ( t ) ) = ∂ h u ∂ x 1 ⁢ f 1 ⁡ ( x 1 ⁡ ( t ) ) + ∂ h u ∂ x 2 ⁢ f 2 ⁡ ( x 2 ⁡ ( t - t d ) ) ; resolving ⁢ ⁢ L f i ⁢ h u ⁡ ( x a ) = L f ⁢ L f j - 1 ⁢ h u ⁡ ( x a ⁡ ( t ) ) ⁢ ⁢ and L g ⁢ L f k ⁢ h u ⁡ ( x a ) = ∂ L f k ⁢ h u ∂ x a ⁢ g wherein an input-output linearizing control law for the inferior olives programmable to the controller is selected by u c ⁢ ⁢ 1 = b u ⁢ ⁢ 1 - 1 ⁢ ( - a u ⁢ ⁢ 1 - ∑ j = 0 3 ⁢ p j ⁢ L f j ⁢ h u ⁡ ( x a ⁡ ( t ) ) .