Extended state observer-based backstepping control for depth tracking of the underactuated AUV

Abstract

An autonomous underwater vehicle (AUV) is a section of a greater class of undersea systems which is recognized as unmanned underwater vehicles. This paper deals with tracking the desired depth of underactuated AUV. Firstly, the simplified model of underactuated AUV is acquired by considering the linear velocity in the heave direction is equivalent to zero. Following this, a linear extended state observer (LESO) is designed for compensating the nonlinearity and uncertainties that exist in the model as well as the external disturbance. Subsequently, a backstepping controller is designed and presented. Furthermore, the proposed controller guarantees the stability of the system by employing the Lyapunov stability theorem. Finally, the obtained outcomes from the simulation indicate the usefulness and robustness of the proposed technique against the external disturbances.