Abstract
This paper aims to develop and assess the efficacy of an Adaptive Backstepping Controller and its nonlinear variant in regulating the behavior of underwater Remotely Operated Vehicles, with a specific focus on the Leonard ROV. The performances of these controllers are compared against a conventional Proportional-Integral-Derivative controller across three distinct scenarios: nominal depth-yaw tracking, robustness testing against perturbations and adaptability to mass changes. To quantify the control performance in each scenario, the study employs two metrics: Root Mean Square Error and the Integral of the control input. These metrics provide insights into the accuracy and consistency of depth and yaw tracking over time. The results of the evaluation demonstrate the superior performance of the proposed methods, particularly in managing complex dynamics of underwater environments, where precise control is critical for mission success.