Abstract

A new control concept is proposed for an autonomous underwater vehicle (AUV) where the desired target is defined as a boundary rather than a point or a region. The inverse Jacobian is utilized in the adaptive control law for compensation of the persistent effects i.e.: the restoring forces. The unit quaternion representation is used for the AUVs attitude representation. The stability analysis is carried out using a Lyapunov-like function. Simulation results are presented to access the effectiveness of the proposed control scheme.

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