Autonomous Underwater Vehicles

Highlighting the unique and difficult design and control problems related to autonomous underwater vehicles (AUVs), this book explains the impact of nonlinear dynamics, uncertain models, and unforeseeable environmental interferences and disturbances on AUV control. It emphasizes the importance of vehicle adherence to a precise trajectory whether that trajectory is preprogrammed, derived by a knowledge-based system in response to the environment, or specified by a human supervisor. Contributions consider motion planning, nonlinear controllability, and nonlinear feedback controller design systems, and they emphasize high-level planning and reliance on dynamic control to guarantee stability and consistent performance.