Trajectory Tracking of Torpedo-like AUVs using Error Dynamics Design*

In this paper, a trajectory tracking controller is proposed for torpedo-like autonomous underwater vehicles (AUVs). Due to the lack of control inputs, the vehicle dynamics do not satisfy the matching condition. In the proposed controller, the desired error dynamics are designed to handle the matching condition problem, and time delay estimation (TDE) is applied to compensate for the nonlinear dynamics of the vehicles. The simulation results with the REMUS model demonstrate the tracking performance of the proposed controller.