Robust diving control of AUV with L2 disturbance attenuation method

Towards the diving control of an autonomous underwater vehicle (AUV), a robust controller built upon L₂ disturbance attenuation method with recursive backstepping technique is addressed. External disturbances are eliminated through L₂ controller. A robust controller incorporated with switching control scheme is proposed against the parameter uncertainties with guaranteed stability. Different from conventional parameter adaptive learning method, the decreasing problem of learning precision can be avoided due to the fast varying of uncertain parameters, and parameter switching law can be obtained through the Lyapunov stability theory. The proposed controller yields asymptotical convergence to the given depth for the vehicle. Finally, simulation experiments are employed to illustrate the effectiveness of the proposed control scheme.