A cascaded adaptive UUV tracking control design with ocean current

This paper proposes a tracking control law design for unmanned underwater vehicles that take into account the hydrodynamic and the ocean current effects. In order to achieve this aim, a cascaded adaptive design with ocean current is designed. First, a kinematic controller is developed and the adaptive dynamic law is designed to extend the kinematics to the dynamics tracking. The system stability can be strictly guaranteed by Lyapunov stability theory. Then, in order to show the effectiveness of the proposed method, a typical adaptive law is added to do a comparative study. The experiment results show that the proposed method can deal with hydrodynamic and the ocean current effects quite well.