Simulation Code and Models for Robust Depth-Yaw Control of Autonomous Underwater Vehicle Under Nominal, Disturbances and Parametric Uncertainties

Abstract

This repository contains the unified MATLAB/Simulink simulation framework, vehicle dynamics model, and control algorithm scripts developed for the robust depth-yaw tracking control of Autonomous Underwater Vehicles (AUVs). The framework includes the implementation and comparative performance evaluation of four distinct control architectures:1. Proportional-Integral-Derivative (PID) Control2. Fuzzy Logic Control (FLC)3. Super-Twisting Sliding Mode Control (ST-SMC)4. Nonlinear Model Predictive Control (NMPC) The simulation models the 6-DOF plant dynamics of the LIVA AUV, incorporating environmental ocean current disturbances and system parametric uncertainties (±50%) to validate the robustness of the control strategies as reported in the associated research manuscript.