Introduction

This introduction presents an overview of the key concepts discussed in the subsequent chapters of this book. The book is concerned with developing models that can be used for the motion planning and feedback control design of underwater vehicles. It analyses new approach of feedback control methodology to the accurate trajectory control and point stabilization of underwater vehicles. The book presents the study concerning the applicability of kinematic-based control of underwater vehicles. It explains the method of converting the kinematic model into chained and power forms via state feedback and coordinate transformation. The book addresses the feedback control and robust control design for a dynamic model of an underwater vehicle. It discusses the feedback control for these models in the presence of uncertainties where the goal is to design the controllers to minimize the effect of uncertainties. The control is achieved using Lyapunov redesign and robust backstepping for uncertain models.