Kerestecioğlu, FezaDemirci, UfukKerestecioğlu, Feza2019-06-282019-06-28200320197-73850197-7385https://hdl.handle.net/20.500.12469/1701https://doi.org/10.1109/OCEANS.2003.178302An indirect adaptive controller is designed for submersibles. The design is developed using a linearized MIMO model of a submarine. Standard recursive least squares estimation method is used to estimate the parameters. Depth and pitch angle of the submarine is controlled by means of the well-known indirect self-tuning method. In case of a system fault estimated parameters of the submarine model have been used to update the controller coefficients.eninfo:eu-repo/semantics/openAccessConference Object2491249552-s2.0-1542715896N/AN/A