Geometric Methods for Robust Stabilization of Autonomous Underwater Vehicles

N.E. Leonard

In Proceedings of the 1996 Symposium on Autonomous Underwater Vehicle Technology, IEEE Oceanic Engineering Society, Monterey, CA, June 1996, p. 470-476.


In this paper we describe feedback stabilization strategies for autonomous underwater vehicles (AUV's) that are robust to uncertainties in hydrodynamic parameters. The approach uses geometric methods to exploit the structure of a six degree-of-freedom nonlinear dynamic vehicle model and avoids having to cancel or linearize nonlinearities.

Postscript Version (7 pages postcript)

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