An Experimental Study on Trajectory Tracking Control of Torpedo-like AUVs Using Coupled Error Dynamics

In this paper, we propose a trajectory tracking controller with experimental verification for torpedo-like autonomous underwater vehicles (AUVs) underactuation characteristics. The proposed overcomes the problem by designing desired error dynamics in coupled form using state variables body-fixed and world coordinates. Unlike back-stepping control requiring high-order derivatives of variables, only requires first states, which can alleviate noise magnification issues due to differentiation. We adopt time delay estimation estimate indirectly inputs vehicle outputs, making relatively easy apply without all dynamics. also address some practical that commonly arise environments: handling measurement noises actuation limits. To mitigate effects on controller, filtering technique moving window average is employed. Additionally, account limits, design an anti-windup structure takes into consideration nonlinearity between thrusting force rotating speed thruster. verify performance through experimentation AUV. results show 3D motion exhibits RMS 0.3216 m demonstrate achieves accurate performance, it suitable survey missions require errors less than one meter.