Hovering control for underwater vehicle based on feedback linearization

An underwater vehicle needs to keep depth and pitch when carrying out a special task. For this MIMO (multi-input multi-output) uncertain nonlinear system, the input/output feedback linearization approach was used to transform the complex nonlinear system into a comparatively simply linear system, and then the controller was designed with Lyapunov method. The uncertainty of the dynamic system was considered in the designing of the control method. Simulation results show that the method has very good robustness and can keep the depth of hovering system.