Abstract
This paper presents the design of an output feedback controller for an autonomous underwater vehicle to achieve the task of path following in vertical plane. Using vehicle kinematics, a reference frame is generated which provides desired orientation of the vehicle along the path. An error space is then defined using the reference trajectory and thereby linearized. Based on this linearized model, a static output feedback controller is designed and implemented on the nonlinear plant. Computer simulations have been used to verify the controller design.
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