Generalized Proportional Integral Observer Approach for Trajectory Tracking Control of Autonomous Underwater Vehicles

Marine sciences require the use of Autonomous Underwater Vehicles (AUV) for their missions in order to perform unmanned duties like deep-sea explorations. AUV require to reject turbulence disturbances while regulating their trajectory. In this paper, a position controller applying the Generalized Proportional Integral (GPI) observer to an Autonomous Underwater Vehicle (AUV) in order to maintain the desired trajectory and reject the environment perturbations is given. The mathematical model and the performance of the GPI shows a precise and fast tracking control through simulations.