3D path-following control for autonomous underwater vehicle based on adaptive backstepping sliding mode

摘要

The three-dimensional (3D) path-following control for autonomous underwater vehicle (AUV) based on adaptive backstepping sliding mode is studied in the paper. First, the design method of kinematics control law is given based on the guidance function. Then, according to the desired yaw angle, pitch angle and surge velocity, the design method of dynamics control law is given based on backstepping sliding mode. For the problem that the AUV dynamic model is unknown in the design of dynamic control law, the adaptive backstepping sliding mode control method based on RBF neural network is proposed, and the selection method of parameter learning rate based on the minimum disturbance thought is given. The simulation results demonstrate the effectiveness of the proposed methods.