DESIGNING A BACKSTEPPING CONTROLLER FOR AUTONOMOUS UNDERWATER VEHICLES

Abstract

Controlling autonomous underwater vehicles (AUVs) is a current research
challenge in reality. AUV is an underactuated system. In addition, it is often
affected by unpredictable external disturbances such as wind, flow, and water
density. This paper proposed a novel controller based on the Backstepping
technique to control position, navigation angle, and ship’s depth as desired. The
simulation results on Matlab/Simulink software show that the effectiveness of
the proposed control method.