Robust Control of a Submarine Snorkel System

This paper illustrates a control strategy for a submarine snorkel able to assure that the water surface profile can be tracked by the extremity of the device, called "fluctuating head". The proposed solution is based on adaptive output regulation theory. More precisely, it is assumed that wave profile can be approximated as a linear combination of a number of harmonics of unknown amplitude, phase and frequency and we look for an internal model-based adaptive regulator able to enforce the top of the mast to track the reference profile. The effectiveness of the proposed adaptive scheme is shown through simulations.