Observer-Assisted Relative-Velocity Compensation with LPV-$H_\infty$ Robust Correction for 3D Trajectory Tracking of Underactuated Non-Minimum-Phase AUVs under Ocean Currents

• URL: http://arxiv.org/abs/2607.23653v1
• Date: Sun, 26 Jul 2026 13:35:06 GMT
• Title: Observer-Assisted Relative-Velocity Compensation with LPV-$H_\infty$ Robust Correction for 3D Trajectory Tracking of Underactuated Non-Minimum-Phase AUVs under Ocean Currents
• Abstract summary: This paper develops an observer-assisted control architecture for 3D trajectory tracking of torpedo-type underactuated AUVs.<n>A three-stage state-current observer provides relative-velocity estimates to a nonlinear feedforward term for dominant current rejection.<n>A singular-perturbation analysis proves local practical uniform ultimate boundedness on the embedded LPV model.
• Score: 0.0
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper develops an observer-assisted control architecture for 3D trajectory tracking of torpedo-type underactuated AUVs with non-minimum-phase sway/heave dynamics under unknown ocean currents. A three-stage state-current observer provides relative-velocity estimates to a nonlinear feedforward term for dominant current rejection and to an LMI-certified LPV-$\mathcal{H}_\infty$ correction layer. Feedback-linearising cancellation yields a constant input matrix, enabling convex synthesis without pairwise cross terms. A residual-level break-even law shows that the effective surge disturbance depends on current-estimation error, while a singular-perturbation analysis proves local practical uniform ultimate boundedness on the embedded LPV model. REMUS simulations over three trajectories and four current scenarios show 89-96% current-estimation reduction, about 99% translational residual reduction, and RMS tracking-error reduction from 4.04 m to 0.24 m.

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