Robust lyapunov-based design for autonomous underwater vehicles

摘要

In this paper we investigate the desing of robust state feedback control strategies for a general model of Autonomous Underwater Vehicle using Lyapunov techniques. More precisely, we first define a nonlinear controller on the basis of a nominal model, and then, after introducing a suitable representation of model uncertanties, we evaluate its robustness properties by means of Lyapunov techniques. Then, we derive, by Lyapunov design, a modified controller which guarantees ultimate uniform boundedness of the tracking error against plant perturbations. The effectiveness of the proposed methodology is proved by discussing a case study and related simulation results.