Abstract
In order to track the desired depth of underactuated autonomous underwater vehicle (AUV), a back-stepping controller based on nonlinear disturbance observer(NDO) is proposed. Firstly, the dynamics model of AUV in the vertical plane is simplified to be more practical for the construction of controller; secondly, the back-stepping controller of AUV's depth is designed along with NDO. Based on the Lyapunov's principle, the overall stability of the whole system is proved to be guaranteed. In the end, the results of the simulation indicate that the designed controller shows strong robustness to the external disturbance, and achieves satisfactory control performance.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
