Trajectory Tracking for Underwater Rescue Salvage Based on Backstepping Control

Backstepping control is an effective method of the nonlinear controller that directly decomposes nonlinear systems. It has recently been shown that the control offered by backstepping controller, and can be improved with the introduction of Lyapunov function and intermediate virtual control. In this paper, we design a trajectory tracking algorithm, which extends to underwater salvage system that is composed of weight-bearing autonomous underwater vehicle (WAUV). At last, we investigate the effectiveness of our proposed controller through numerical simulations.