Adaptive region control for autonomous underwater vehicles

In this paper, we propose a new control concept called adaptive region control, for autonomous underwater vehicle (AUV). In this new control concept, the desired objective can be specified as a region instead of a point. The proposed control law does not require any knowledge of the inertia matrix, Coriolis and centripetal force, hydrodynamic damping, and parameters of the gravity and buoyancy forces. Furthermore, the inverse Jacobian matrix is not required in the control law. Lyapunov-like functions are proposed for the stability analysis. Simulation results are presented to demonstrate the effectiveness of the proposed controllers.