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Trajectory Tracking Control of Underactuated Autonomous Underwater Vehicle in the Presence of Ocean Currents

Volume 15, Number 6, June 2019, pp. 1716-1723
DOI: 10.23940/ijpe.19.06.p23.17161723

Lukun Wang, Chunpeng Tian, and Xiaodong Yang

Department of Information Engineering, Shandong University of Science and Technology, Taian, 271019, China

(Submitted on December 12, 2018; Revised on January 14, 2019; Accepted on February 16, 2019)


This paper explores trajectory tracking control for underactuated Autonomous Underwater Vehicles (AUV). The controller of dynamics based on backstepping technology is proposed. Firstly, the dynamics and kinematic model of AUV are designed. Secondly, the cascade method is applied to decompose the tracking error system into position tracking error subsystem and heading angle tracking error subsystem. Finally, backstepping technology is used to design the controller. Two virtual feedback variables are constructed, an AUV trajectory tracking controller is designed, and then the stability of the system is proven by the Lyapunov method. The results demonstrate that the proposed control schemes can make tracking errors converge uniformly.


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