A static output feedback control design for path following of autonomous underwater vehicle in vertical plane

This paper presents the design of an output feedback controller for an autonomous underwater vehicle to achieve the task of path following in vertical plane. Using vehicle kinematics, a reference frame is generated which provides desired orientation of the vehicle along the path. An error space is then defined using the reference trajectory and thereby linearized. Based on this linearized model, a static output feedback controller is designed and implemented on the nonlinear plant. Computer simulations have been used to verify the controller design.

► An output feedback controller is designed for an AUV to achieve the task of path following in vertical plane.
► Vehicle kinematics is used for generating a reference frame which provides desired orientation of the vehicle along the path.
► An error space has been generated using the reference trajectory which is linearized by Taylor series expansion method.
► Based on the linearized dynamics, a static output feedback controller is designed and implemented on the nonlinear plant.