Robust and adaptive path following for underactuated autonomous underwater vehicles

K. Duc Do, J. Pan, Z. P. Jiang

Research output: Contribution to journalArticlepeer-review


This paper proposes a nonlinear robust adaptive control strategy to force a six degrees of freedom underactuated underwater vehicle with only four actuators to follow a predefined path at a desired speed despite of the presence of environmental disturbances and vehicle's unknown physical parameters. The proposed controller is designed using Lyapunov's direct method, the popular backstepping and parameter projection techniques. The closed loop path following errors can be made arbitrarily small. Interestingly, it is shown that our developed control strategy is easily extendible to situations of practical importance such as parking and point-to-point navigation. Numerical simulations are provided to illustrate the effectiveness of the proposed methodology.

Original languageEnglish (US)
Pages (from-to)1967-1997
Number of pages31
JournalOcean Engineering
Issue number16
StatePublished - Nov 2004


  • Adaptation
  • Cascade system
  • Nonlinear control
  • Parking
  • Path following
  • Point-to-point navigation
  • Robustness
  • Underactuated underwater vehicles

ASJC Scopus subject areas

  • Environmental Engineering
  • Ocean Engineering


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