Three-dimensional path following control of underactuated autonomous underwater vehicle

This paper presents a new control law for three-dimensional path following of underactuated autonomous underwater vehicles (AUV). The kinematic controller based on the Serret-Frenet frame is firstly designed, which is convenient to describe the track errors. It also overcomes the stringent initial condition constraints by introducing virtual target. Moreover, the dynamic controller based on Lyapunov theory and backstepping technique is developed. The adaptive law can enhance the robustness of an AUV in the presence of hydrodynamic parameters uncertainty. The control law can be proved to be globally asymptotically stable. Thus the vehicle can track the planning path. Finally, simulation results demonstrate the effectiveness of the derived controller.

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