Input-output linearization design for dive-plane control of AUV

This paper addresses the problem of a torpedo-type autonomous underwater vehicle (AUV) controlled in the vertical plane. Since there are two outputs of dive-plane dynamics model, the design of the controller is divided into two steps. And towards to the nonlinearity of the vertical plane dynamics model, we develop a state feedback control law which is based on the input-output linearization technique. Numerical simulation results are presented which show that the proposed controller performs high effectiveness and good transient performance.