Almost global feedack control of autonomous underwater vehicles

Abstract

An Autonomous Underwater Vehicle (AUV) is expected to operate in an aquatic environment and compensate for poorly known disturbance forces and moments. Due to uncertain environment, it is difficult to apply an open-loop control scheme for tracking the desired trajectory. The objective of this thesis is to develop a robust feedback trajectory tracking control scheme for an AUV that can track a prescribed trajectory amidst such disturbances.