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Abstract <p>In this study, a robust control scheme based on the backstepping strategy is developed for underactuated UUVs. The proposed method does not require system model or parameter knowledge and, owing to its simple structure, offers ease of implementation. Through Lyapunov stability analysis, it has been demonstrated that the proposed control guarantees the boundedness of all system states and the ultimate stability of the output error vector. The control method has been validated through simulation studies, which confirm its successful performance.</p>

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Robust Control of Underactuated Underwater Vehicle

  • 期刊论文

  • 发表日期：

    2025年4月1日

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  • Alper Bayrak

摘要

Abstract

In this study, a robust control scheme based on the backstepping strategy is developed for underactuated UUVs. The proposed method does not require system model or parameter knowledge and, owing to its simple structure, offers ease of implementation. Through Lyapunov stability analysis, it has been demonstrated that the proposed control guarantees the boundedness of all system states and the ultimate stability of the output error vector. The control method has been validated through simulation studies, which confirm its successful performance.