Pitch and Yaw Position Control of an AUV Using Immersion and Invariance-Part II

Part I of this paper introduced a tracking control law based on the Immersion and In-variance (I&I) technique. This paper focuses on the stability analysis of the proposed controller, which constitutes the central contribution of this work. The stability is established through the application of Lyapunov theory. Additionally, the robustness of the proposed control approach in the context of parametric uncertainties and underwater disturbances using simulated studies is assessed. These simulations utilize the ODRA-I AUV's experimentally validated pitch and yaw motion parameters. Furthermore, comparative evaluations are conducted to benchmark the performance of our suggested control law against established controllers.