Robust Nonlinear Path-Following Control of an AUV

  title={Robust Nonlinear Path-Following Control of an AUV},
  author={Lionel Lapierre and Bruno Jouvencel},
  journal={IEEE Journal of Oceanic Engineering},
This paper develops a robust nonlinear controller that asymptotically drives the dynamic model of an autonomous underwater vehicle (AUV) onto a predefined path at a constant forward speed. A kinematic controller is first derived, and extended to cope with vehicle dynamics by resorting to backstepping and Lyapunov-based techniques. Robustness to vehicle parameter uncertainty is addressed by incorporating a hybrid parameter adaptation scheme. The resulting nonlinear adaptive control system is… CONTINUE READING
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