Trajectory-tracking Control of Underactuated Underwater Vehicles
This chapter addresses the problem of trajectory-tracking control of underactuated underwater vehicles. These vehicles do not have independent actuators in the sway and heave axes. Based on the techniques developed for underactuated surface ships in Chapters 5, 6, and 7, we present a method to design a controller for an underactuated underwater vehicle to globally asymptotically track a reference trajectory generated by a suitable virtual underwater vehicle. The yaw and pitch reference velocities do not have to satisfy a persistently exciting condition as was often required in previous literature. Due to the complex dynamics of the underwater vehicles in comparison with that of the ships, the control design and stability analysis require more complicated coordinate transformations and techniques than those developed for underactuated ships in Chapters 5, 6, and 7.
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