This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight path-following algorithm is used to guide the vehicle along a three-dimensional path, and an L1 adaptive control algorithm is used to determine the low-level rudder commands to accomplish path following. The performance bounds of these outer- and inner-loop control algorithms are presented. Numerical results obtained using a physics-based Simulink model are used to aid in visualization of the control algorithm's performance.
@article{arxiv.2204.00935,
title = {3D Path Following and L1 Adaptive Control for Underwater Vehicles},
author = {Nicholas Rober and Maxwell Hammond and Venanzio Cichella and Juan E. Martin and Pablo Carrica},
journal= {arXiv preprint arXiv:2204.00935},
year = {2022}
}