Autonomous unmanned vehicles operate in a variable environment, often out of reach of the operator, and thus are required to have the ability to automatically adjust parameters in response to disturbances and changes in characteristics. Therefore, Mitsubishi Heavy Industries, Ltd. has been working on the development of an adaptive controller that can add an automatic adjustment function to existing control systems. This report outlines the technology, and describes the results of its verification through simulation using an example case of suppressing the oscillation of an autonomous underwater vehicles moving through an ocean wave environment.
