Modeling and Control Techniques for Autonomous Underwater Vehicles - A Comprehensive Review

Underwater applications are rapidly increasing as we explore underwater and marine environments due to their unique characteristics. Due to uncertainties, disturbances, dynamic characteristics, and constraints, the effective design of AUV models and control systems is always a challenging task. The designed AUV model and its controller need to be robust by adapting to the reference model to overcome the issues that arise in underwater environments. This article presents a detailed view and comprehensive comparison of recently published AUV control methods, strategies, and models. This article also provides the mathematical modeling behind AUV dynamics based on the system’s framework in a detailed manner. This review also discusses the open problems in AUV modeling and control systems while suggesting the design and development of more novel and innovative strategies for researchers.