Adaptive Tracking Control of an Autonomous Underwater Vehicle

Basant Kumar Sahu; Bidyadhar Subudhi

doi:10.1007/s11633-014-0792-7

This paper presents the trajectory tracking control of an autonomous underwater vehicle (AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties. Stability of the developed controller is verified using the Lyapunov's direct method. Numerical simulations are carried out to study the efficacy of the proposed adaptive controller.

Centre for Industrial Electronics and Robotics, Department of Electrical Engineering, National Institute of Technology, Rourkela, India

Received: 2013-06-16

Fund Project:

This work was supported by Naval Research Board, Defense Re-search Development Organization (DRDO), Government of India (No.DNRD/05/4003/NRB/160).

Key words:

Abstract: This paper presents the trajectory tracking control of an autonomous underwater vehicle (AUV). To cope with parametric uncertainties owing to the hydrodynamic effect, an adaptive control law is developed for the AUV to track the desired trajectory. This desired state-dependent regressor matrix-based controller provides consistent results under hydrodynamic parametric uncertainties. Stability of the developed controller is verified using the Lyapunov's direct method. Numerical simulations are carried out to study the efficacy of the proposed adaptive controller.

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Reference (32)

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Adaptive Tracking Control of an Autonomous Underwater Vehicle

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