Output feedback control of an AUV with experimental results

This paper presents an output feedback controller for slender body underwater vehicles. The controller is derived using model based design techniques. Two separate control plant models are employed; a three DOF model accounting for the current loads acting on the vehicle and a five DOF model describing the vehicle dynamics. Furthermore, the transit model is based on the notion of constant propeller revolution resulting in a partly linearized model. The output feedback controller is proved to be uniformly globally asymptotically stable on the state space which it is defined. Experimental results from sea trials carried out with the Minesniper MkII demonstrate the performance of the proposed output feedback controller.