Sliding Model Tracking Control for AUV Three Dimensional Path Based on Disturbance Observer
In order to ensure that the underactuated autonomous underwater vehicle(AUV)can still track and control the 3D path in the case of external interference,a backstepping sliding mode controller based on disturbance observer is designed.According to the 5-DOF state equation of underactuated AUV,an interference observer is designed to estimate the interference in real time considering the influence of external interference on the motion of AUV.The stabilization model of the system is obtained through the state equation of the underactuated AUV and the 3D path tracking error model.A backstepping sliding mode composite controller is designed to control the AUV and realize the 3D path tracking.The closed-loop system is proved to be asymptotically stable by Lyapunov stability theory.The simulation results show that the controller has good control effect and anti-interference ability for the accurate tracking of 3D path of underactuated AUV.
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