ABSTRACT
This chapter presents the design of robust nonlinear feedback controllers for models representing kinematic and dynamic models for underwater vehicles, with uncertainty in the control input. The objective is to develop a framework for the synthesis of robust controllers that handle the effect of this uncertain variable for both kinematic and dynamic models of an underwater vehicle. The robust controllers designed guarantee boundedness of state and achieve asymptotic stabilization with an arbitrary degree of asymptotic attenuation to the effect of uncertain variables on the output of the closed-loop system. The chapter analyses the uncertain control model and explains robust control design for the kinematic model. It provides Lyapunov stability for dynamic model with the uncertainty in the input to the system. The control design is done using a combination of both Lyapunov redesign and backstepping, and the technique is referred to as robust backstepping.
