Abstract
In this paper, a region tracking controller has been proposed for an autonomous underwater vehicle (AUV) to ensure tracking within a constrained region. During tracking only position measurements are considered to be available. A pseudo velocity signal is generated using a filter to compensate for the velocity signal. For the mapping of the unknown persistent effects in AUV dynamics, i.e., to compensate these unknown forces, an adaptive signal has also been introduced. A Lyapunov function has been utilised to prove the stability of the closed-loop system. The controller ensures uniformly ultimately bounded stability of the system states. Simulation results prove the effectiveness of the proposed controller in terms of energy saving during region tracking.
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