Design depth controller for autonomous underwater vehicle using virtual system and diffeomorphism

This paper describes the control law design for the depth stabilization of autonomous underwater vehicles (AUV) using the virtual system and diffeomorphism. The controller is aggregated through a virtual back-propagation system and can select the system parameters that need to be quick acting. Virtual system-based control is quick acting, ensures a highly robust system and certainly suitable for controlling AUV in the presence of environmental disturbances and uncertainties. The control law is found by the diffeomorphism between the real system and the virtual system. In the simulation results, we give results that show that the new control law having reach time smaller two times than the control law LQR, stabilization with external disturbances or change of set value. The amplitude value on the depth channel is less 1 than of the set value. The effectiveness of the proposed control law is shown more clearly when comparing the response of the system when control by the LQR. © 2023 Author(s).