An Autonomous Underwater Vehicle (AUV) is an underactuated mobile robotic system. This paper is focused on the control of an AUV, which is an interesting problem in robotics. In engineering applications, achieving a precise mathematical model for a given system is not realistic due to the existence of many unknown and unpredictable phenomena in real systems. Therefore, less reliant algorithms on the system mathematical equations are certainly preferable. To this end, first, the mathematical model of the AUV is presented. Then, the desired signals for the control algorithm are produced. After that, a nonlinear PID-based kinematic control is proposed to solve the trajectory tracking problem for the AUV. Subsequently, a Lyapunov-based dynamic control is designed for system actuator torques. In contrast to many existing solutions, control formulation does not require any model transformation or approximation and it is formulated in the original configuration space of the system. The proposed control law is simple, with an explainable mechanism and straightforward tuning, and it leads to the non-oscillatory robot motions in the Cartesian space.

自主水下航行器 (AUV) 是一种欠驱动的移动机器人系统。这篇论文的重点是 AUV 的控制，这是机器人学中一个有趣的问题。在工程应用中，由于实际系统中存在许多未知和不可预测的现象，因此为给定系统建立精确的数学模型是不现实的。因此，对系统数学方程依赖较少的算法当然是可取的。为此，首先提出了AUV的数学模型。然后，产生用于控制算法的所需信号。之后，提出了一种基于非线性PID的运动学控制来解决AUV的轨迹跟踪问题。随后，针对系统执行器扭矩设计了基于李雅普诺夫的动态控制。与许多现有的解决方案相比，控制公式不需要任何模型变换或近似，它是在系统的原始配置空间中制定的。所提出的控制律很简单，具有可解释的机制和直接的调谐，它导致了笛卡尔空间中的非振荡机器人运动。