Region reaching controller for Autonomous Underwater Vehicle without velocity measurement

This paper addresses the problem of region reaching by using the concept of potential energy of the specified region, for an Autonomous Underwater Vehicle (AUV). The six degrees of freedom AUV model has been exploited with Euler angle representation. The control law incorporates high filtered version of position error to regulate the system without velocity measurement. The proposed control law ensures stability in Lyapunov sense and simulation results shows the convergence of positional error.