A Robust State Feedback Optimal Control Law with Backstepping Approach for Steering Control of an Autonomous Underwater Vehicle Using Semi-definite Programming

The article focuses on the development of a robust state feedback optimal control law for the steering control of an autonomous underwater vehicle (AUV) using a backstepping approach and semi-definite programming. It addresses the challenges in ocean exploration and exploitation by improving the steering control of AUVs, which are essential for various applications including commercial, defense, marine, and research domains. The paper reviews existing control algorithms and highlights the need for robustness in the face of hydrodynamic parameter uncertainties. It introduces a novel approach to selecting uncertain hydrodynamic parameters to form a polytopic uncertain AUV system, enabling the design of a robust optimal control law. The control algorithm is validated through simulations, demonstrating effective tracking of desired yaw and path following even in the presence of uncertainties. The paper compares the proposed control algorithm with adaptive neuro-fuzzy sliding mode control (ANFSMC), showcasing its superior performance. This comprehensive approach offers a significant advancement in the field of AUV control systems.