Point Stabilization of Full-actuated Autonomous Underwater Vehicle in Polar Coordinates

It is addressed that the point stabilization of the full-actuated autonomous underwater vehicle (AUV). The system model is established in polar coordinates and the designing methods of kinematic controller are obtained. The polar coordinates are applied to avoid Brockett’s conditions. The kinematic controller is extended to dynamic controller based on Lyapunov methods and backstepping techniques. The controller is designed to ensure that the full-actuated AUV asymptotically converges to the target point. Simulations show the effectiveness of the proposed method.