Observer-based region tracking control for underwater vehicles without velocity measurement

This paper addresses the problem of region tracking control for underwater vehicles without velocity measurement in marine environment. For this case, an improved strategy is proposed based on a Nussbaum-type state observer. In scheme, observer developed to estimate unmeasured vehicle. And then presented by incorporating estimated observer, such that errors satisfy requirement prescribed boundaries. addition, RBF neural network applied approximate unknown dynamics It verified both error and are uniformly ultimately bounded. Finally, observer-based vehicle perform simulation studies compared with traditional backstepping controller high-gain respectively. The results verify effectiveness strategy.