This paper presents a robust trajectory-tracking control framework for underwater vehicles operating in a relative coordinate system. Unlike conventional methods that define trajectories in the world frame, the proposed approach formulates the control problem directly in a moving reference frame, enabling accurate motion control with respect to dynamic and drifting objects affected by environmental disturbances such as ocean c...

This study proposes a system identification (SI) technique based on the constrained recursive least squares (CRLS) method to model the dynamics of the P-SUROII. By simplifying the dynamic model in consideration of the inherent characteristics of underwater vehicles and minimizing the number of parameters to be estimated, the proposed approach aims to improve estimation accuracy. In addition, a simplified thruster input model w...