Abstract

Accurate heave regulation in underwater vehicles is challenged by nonlinear hydrodynamic effects such as added mass, viscous–quadratic damping, and buoyancy-induced biases. This work presents a nonlinear depth control method based on input–output feedback linearization, using a control-oriented heave model.

The resulting closed-loop error dynamics are shaped explicitly through a second-order linear design, enabling monotonic and well-damped convergence to the desired depth. The approach demonstrates that feedback linearization offers a transparent and effective nonlinear control framework suitable for depth regulation in compact underwater vehicles.

About the Speaker

Mr. Yussif Atta earned his Bachelor’s degree in Mechanical Engineering from Koforidua Technical University in Ghana. He subsequently worked as a Mechanical Technician, gaining hands-on experience with mechanical systems and instrumentation. He is currently pursuing graduate studies in the Control and Instrumentation Engineering Department at King Fahd University of Petroleum and Minerals (KFUPM), Saudi Arabia, where he is developing expertise in systems and control, with a particular focus on nonlinear control theory. His research interests include cooperative payload transport using multi-UAVs, reinforcement learning for autonomous systems, and control of robotic systems. This work forms part of his ongoing effort to strengthen his understanding of nonlinear control methods.