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Velocity tracking controller for planar motion of underwater vehicles

A control algorithm for velocity tracking of autonomous underwater vehicles (AUV) is presented in this work. The controller is realized using the transformed equations of motion obtained from the inertia matrix decomposition. The control gains contain dynamics of the vehicle, which cause that the motion strictly depend on the system parameters. The stability of the system together with the controller is done based on the Lyapunov method. The proposed strategy is suitable for fully actuated vehicles moving in the planar space. However, it is shown (taking into account preliminary results) that also if the system is underactuated it is possible to use similar approach. An explanation of this idea is given for a 3 DOF planar AUV model. The performance of the proposed controller is validated via simulation on a 3 DOF AUV.