A Quasi-Velocity-Based Tracking Controller for a Class of Underactuated Marine Vehicles

This paper investigates the trajectory tracking control problem for underactuated underwater vehicles, which a model is expressed in terms of quasi-velocities arising from inertia matrix decomposition. The approach takes into account non-modeled dynamics and external disturbances suitable symmetric vehicles. It shown that such systems can be diagonalized using inertial (IQVs). strategy consists velocity controller two adaptive integral sliding mode algorithms. proposed approach, introducing transformation backstepping methods control, allows vehicles described models with matrix. Proof stability closed system was carried out IQV. scheme has been verified on 3 DOF thruster limitations. A brief discussion results also given.