A Survey on Model-Based Control and Guidance Principles for Autonomous Marine Vehicles

With the increasing number of applications for both surface and underwater autonomous vehicles, a great amount control methods guidance principles has been developed over years. This work proposes review most common these methods. It is mainly focused on model-based nonlinear principles. Notably, this details examples variations linearizing controllers, line sight guidance, sliding mode controllers several other less fully-actuated underactuated vehicles. Additionally, an alternative definition underactuation with respect to task allowing better understanding consequences control. Comparison cases shows how laws can be used solve problems what mechanisms compensate lack actuation degree freedom. The reviewed are compared discussed their capabilities, limitations suitability typical tasks.