Region tracking control of an autonomous underwater vehicle without velocity measurement

Abstract

In this paper, a region tracking controller has been proposed for an autonomous underwater vehicle (AUV) to ensure tracking within a constrained region. During tracking only position measurements are considered to be available. A pseudo velocity signal is generated using a filter to compensate for the velocity signal. A Lyapunov function has been utilized to prove the stability of the closed loop system. The controller ensures Uniformly Ultimately Bounded stability of the system states. Simulation results prove the effectiveness of the proposed controller.