ABSTRACT
This chapter describes the controllers will be designed for the vehicle to track a desired trajectory, follow a path, and for point-to-point stabilization. It presents the control design and the simulation results obtained for the model of an underwater vehicle. The chapter explains on results obtained for different controllers. The simulation results are used to compare and evaluate the performance of the various controllers. The system is supposed to track a given Cartesian trajectory. The problem is to regulate both the vehicle’s position and orientation with respect to that of a reference system, the trajectory of which is parameterized by the variable t. The feedback controller for trajectory tracking is based on standard linear control theory. The design makes use of the approximate linearization of the system equations about desired trajectory, which leads to a time-varying system, as seen before.
