标题：Trajectory tracking control of underactuated autonomous underwater vehicle in the presence of ocean currents
作者：Wang, Lukun ;Tian, Chunpeng ;Yang, Xiaodong
作者机构：[Wang, Lukun ;Tian, Chunpeng ;Yang, Xiaodong ] Department of Information Engineering, Shandong University of Science and Technology, Taian; 271019, Ch 更多
来源：International Journal of Performability Engineering
关键词：Backstepping; Cascaded theory; Lyapunov; Trajectory tracking control; Underactuated underwater autonomous vehicle
摘要：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. © 2019 Totem Publisher, Inc. All rights reserved.