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Finitary Optimal Gain for Diving Control of AUVs via Input-state Linearization

Finite time control design of an autonomous underwater vehicle (AUV) in presence of known disturbance and uncertainty is investigated in this work. Depth planar motion control of a well-known AUV, REMUS, is presented based on finitary gain of input-state feedback linearization control under actuator saturation constraint. Finitary gain is obtained through solving of a differential Riccati equation. Stability of the proposed finite time feedback linearization method is presented using Lyapunov approach. Reliability tests of the proposed controller is presented to assess the performance of the system in different conditions for both initial and final ones. Moreover, a comparative study is carried out to assess the performance of the proposed design, finite time feedback linearization (FTFL), with respect to finite-time state-dependent Riccati equation (SDRE) and conventional feedback linearization (FL). Simulation results illustrated the efficiency of FTFL is illustrated by simulation.