Sharif Digital Repository

Due to the importance of recognizing the underwater and the existence of danger to human life in this environment, the use of AUVs has greatly expanded. To build and use these vehicles, we need to model dynamic behavior, and control these systems. The nonlinear dynamics of the AUV makes it difficult to use common linear controllers. On the other hand, the coefficients used in dynamic equations have uncertainty and changes, and as a result, dynamic analysis may be probably un-accurate. If the controller is designed, the controller must be self-tuning and robust to be able to withstand changes and uncertainty. Adaptive control is an approach for controlling such systems. The main idea in...