Intermittent Information-Based Disturbance Observer Design and Recursive Depth Control for AUVs With Packet Losses

Achieving precise depth control of autonomous underwater vehicles (AUVs) poses a considerable challenge owing to packet losses and ocean current disturbances. Consequently, there is an urgent necessity to investigate methods for anti-disturbance depth control of AUVs in scenarios that involve packet losses. In contrast to traditional disturbance estimation techniques that depend on complete state information, which rely on complete states, we propose an intermittent information-based disturbance observer, which leverages most recent data packet to compensate for any current data losses. The novel feature of this new anti-disturbance control lies in its consideration of the issue of information intermittency and its dynamic selection of gains with or without packet losses. Through integration of estimated disturbances, a PI recursive controller has been developed to effectively track desired depth of AUVs. In addition, a stability criterion has been established using the Lyapunov stability theory and stochastic analysis techniques, with calculation of the possibility that the Lyapunov function is bounded through Chebyshev’s inequality. Finally, comprehensive simulations have been performed to demonstrate the tracking effectiveness of the proposed algorithm, and its real-world applicability and reliability have also been confirmed through experimental trials.