An adaptive dynamics control of underwater vehicle based on velocity servo loop

This paper presents dynamics control of underwater vehicle based on motor velocity servo. For control of robot's location, pose, velocity in complicated underwater environment, this study estimates hydrodynamic coefficients by using backstepping technique. Estimated hydrodynamic coefficients are to be used for controlling of robot's exact location, pose, and velocity, within the framework of adaptive dynamics control. Also this study suggests a unified control method which combines motor control loop for velocity servo and torque control for dynamics control. Simulation results demonstrate the feasibility and effectiveness of the proposed control method.