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This paper addresses the tracking control challenge in the diving motion system of a specific class of autonomous underwater vehicles (AUVs) characterized by a torpedo-like shape. A decoupled and reduced-order three degrees-of-freedom linearized diving motion model is employed for depth position control. A control law is synthesized using the immersion and invariance (I&I) technique to achieve the control objectives. The primary aim is to attain tracking by immersing a stable, lower-order target (second-order) dynamic system into a three-dimensional manifold, upon which the closed-loop system evolves. We address the regulation problem as a specialized instance of the tracking problem, with the reference input set as a predetermined known depth that requires regulation. The efficacy of the proposed control law is evaluated through simulation studies involving various scenarios. Robustness tests are conducted to assess the control law’s performance under modeling uncertainties and underwater disturbances. The computer simulation employs an AUV named MAYA, utilizing experimentally validated diving motion parameters. A comparative analysis is performed between the proposed control law and other benchmark controllers to gauge its performance. Additionally, the effectiveness of the proposed control law is confirmed by validating its application to the nonlinear model of the diving motion system. [ABSTRACT FROM AUTHOR]

This study presents the design of interconnection and damping assignment passivity-based control for active suspension systems. It is well known that interconnection and damping assignment passivity-based control's design methodology is based on the physical properties of the system where the kinetic and potential energy profiles are shaped, and asymptotic stability is achieved by damping injection. Based on the choice of control variables, special cases of the control law are derived, and tuning of the control law with the physical meaning of the variables is demonstrated along with their simulation results. The proposed control law is experimentally validated on a scaled model of a quarter-car active suspension system with different road profiles, varying load conditions, and noise and delay in the sensor measurements and actuator respectively. The results are compared with that of an uncontrolled system with linear quadratic regulator and sliding mode control. [ABSTRACT FROM AUTHOR]