Three-dimensional path following control of underactuated autonomous underwater vehicle based on damping backstepping

Abstract

This article addresses the problem of three-dimensional path following control for underactuated autonomous underwater vehicles in the presence of ocean current. Firstly, three-dimensional path following error model was established based on virtual guidance method. The control law is developed by building virtual velocity errors and backstepping method, which can simplify the virtual control input and avoid the singular problem induced by initial state constraints. Considering the curvature and torsion characteristics of the three-dimensional desired path, the approaching angle is introduced to guarantee fast convergence of error. Nonlinear damping term is introduced to offset the effects of dynamic uncertainties and external disturbances. The controller stability was proved by Lyapunov stable theory. Finally, simulations were conducted and the results indicate the effectiveness and robustness to parameter uncertainties and external disturbances of the proposed approach.

Three-dimensional trajectory tracking control of an underactuated autonomous underwater vehicle based on ocean current observer

“…According to the literature, 30,31 the five DOF underactuated AUV kinematics and dynamics equations (neglecting motion in roll) can be represented by…”

Adaptive Event-Triggered Control Strategy for Ensuring Predefined Three-Dimensional Tracking Performance of Uncertain Nonlinear Underactuated Underwater Vehicles

“…For more practical application, three-dimensional control approaches have been studied for nonlinear underwater vehicles described by 5-degrees-of-freedom (5-DOF) or 6-DOF kinematics and dynamics. In [12], a path following controller was designed for 5-DOF underwater vehicles with ocean current disturbances. A ocean current observer to detect an external current was designed for trajectory tracking of 5-DOF underactuated underwater vehicles (UUVs) [13].…”

Nonlinear-Observer-Based Design Approach for Adaptive Event-Driven Tracking of Uncertain Underactuated Underwater Vehicles

“…To deal with more practical underwater environments, the control problems in threedimensional underwater space were addressed for autonomous underwater vehicles. In [13], a three-dimensional path following a control problem was addressed for 5-degreesof-freedom (5-DOF) UUVs in the presence of ocean current. In [14], an ocean current observer design was presented for three-dimensional trajectory tracking of 5-DOF UUVs.…”