Author(s)

Guanghong Xin

Corresponding Author

Guanghong Xin

Abstract

Aiming at the unknown model and external disturbance of underwater vehicle, the Serret-Frenet coordinate system is used to describe the path tracking error. Based on adaptive fuzzy backstepping sliding mode control method, the horizontal and vertical path tracking control systems are designed respectively. The path parameters are regarded as an additional control variable, and the path tracking error is gradually reduced by adjusting its change rate. The simulation results show that the designed horizontal and vertical path tracking control system based on adaptive fuzzy inversion sliding mode method has good adaptability and strong robustness.

Keywords

Underwater vehicle, Underactuated system, Motion control, Trajectory tracking