Abstract

This chapter is devoted to the control of autonomous underwater vehicles (AUVs). Based on the dynamic models, three AUV control problems are investigated including longitudinal gliding stabilization, yaw angle regulation, and spiral path tracking, using passivity‐based control, sliding mode control, and two‐degree‐of‐freedom (2‐DOF) control, respectively. The chapter reiterates that a dynamic model of AUVs is a necessity when the control of AUVs are considered where a kinematic model is insufficient due to system nonlinearity and coupling effects between control inputs. The control problems are thus challenging due to the resulting increased system complexity compared to the kinematic models adopted for surface vehicles. Given desired trajectories of curvature, torsion, and velocity, simulation is conducted to test the effectiveness of the proposed 2‐DOF control algorithm. For the purpose of comparison, the simulation are conducted with pure inverse mapping control and Proportional‐Integral control.

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