Path Tracking Control of an Autonomous Underwater Vehicle with Input Constraints
In order to solve the 3D path tracking control problem of underactuated AUV,a backstepping sliding mode controller is designed which converges according to the specified error performance index function.Firstly,the path tracking problem was transformed into the stabilization problem of the nonlinear system based on the kinematics and dynamics model of the vehicle.Then,the virtual control law was modified by using the backstepping method and Lyapunov stability theory,so that the controller can guarantee the stability and robustness of the system.In order to solve the problem of the limited speed of the rudder actuator,a controller was designed by adjusting the convergence rate of tracking error.The simulation results show that the controller can accurately track the 3D linear path and obvi-ously reduce the speed requirement of the control system actuator.