Three nonlinear control methods were proposed for controlling underwater vehicles, and their capabilities to cope with the issues of environmental disturbances and parametric uncertainties were examined through simulation results. It was shown that the stability achieved by the computed torque control method, is sensitive to parametric uncertainties. Moreover, the maximum amount of disturbance waves that can be conquered by this method was shown to be lower than its adaptive counterpart. The adaptive computed torque control method compensated parameter variations through an adaptation law. As a result, it could manage larger amounts of uncertainties. Finally the suction control method lead to a robust controller, insensitive to uncertainties or disturbances.
The theoretical analysis proposed in this chapter, verified by numerical simulations, has shown that the application of the proposed control laws can lead to a successful design, conquering drastic constraints such as uncertainties and environmental disturbances. The next step in evaluating the efficiency and reliability of these approaches passes necessarily through the practical implementation of such algorithms, and verification of the results by experimental studies.
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