Abstract
This paper proposes a method for the preliminary verification of known control algorithms designed for tracking the desired trajectory of underactuated underwater vehicles. It is based on simplified criteria for the selection of suitable controllers. Moreover, a certain method for the selection of controller parameters is indicated, which can be effective in the initial analysis of the suitability of selected control schemes. In order to demonstrate the possible application of the described approach, several control strategies known from the literature were selected and numerical tests for them were performed for two 3 DOF models of underwater vehicles with different dynamics. The method given here can be useful for simulation studies at the stage of controller selection without its experimental validation.
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