Robust nonlinear motion control for AUVs
Serrani, A.; Conte, G.
Robotics & Automation Magazine, IEEE
Volume 6, Issue 2, Jun 1999 Page(s):33 - 38, 62
Digital Object Identifier   10.1109/100.774926
Summary:We show how an efficient nonlinear controller for a general model of autonomous underwater vehicles (AUVs) dynamics, with uncertainties and external disturbances, can be designed by means of Lyapunov techniques. The control task we consider consists of tracking a given reference trajectory. As part of the design strategy, both model uncertainties and external disturbances physically corresponding to the effect of an underwater current are represented as a bounded perturbation of a nominal model of the vehicle dynamics

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