Output feedback control for underactuated unmanned underwater vehicles

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This paper addresses the problem of output feedback control for underactuated unmanned underwater vehicles (UUVs) moving on the horizontal plane when only the information of position and orientation are available. We show that it is possible to solve the trajectory tracking control by an interesting approach such that the combination of backstepping technique with adaptive dynamical sliding mode control enhances the robustness of UUVs against to systematic uncertainty and environmental disturbances. Although the velocity measurements of the vehicle are unavailable for identification and control, the option of high-gain observer for output feedback control is developed to estimate the velocities without the need for explicit knowledge of the vehicle model. The rigorous stability analysis of overall closed-loop system are achieved here to be globally uniformly ultimately bounded, and simulations are given to demonstrate the effectiveness of the proposed observer-controller scheme.