A Homography-Based Dynamic Control Approach Applied to Station Keeping of Autonomous Underwater Vehicles Without Linear Velocity Measurements

A homography-based dynamic control approach applied to station keeping of autonomous underwater vehicles (AUVs) without relying on linear velocity measurements is proposed. The homography estimated from images a planar target scene captured by downward-looking camera directly used as feedback information. full dynamics the AUV are exploited in hierarchical design with inner and outer loop architectures. Enhanced integral compensation actions disturbance torque estimation, proposed controller robust respect model uncertainties unknown currents. performance illustrated using both comparative simulation results conducted realistic experimental validations an in-house AUV.