Three-Dimensional Trajectory Tracking of an Underactuated UUV by Backstepping Control and Bio-Inspired Models

摘要

In this paper, bio-inspired models are introduced, combining with the backstepping control. A three-dimensional dynamic velocity trajectory tracking controller is designed. In order to solve the problem of "differential explosion" in the backstepping control of the underactuated unmanned underwater vehicle (UUV) three-dimensional trajectory tracking and reduce the complexity of the dynamics controller, the derivative output value of the bio-inspired model is used to replace the real-time derivation of virtual control variables in backstepping. This method can avoid multiple derivative calculation of virtual variables, reduce the computation complexity and complexity of the controller. And it satisfies the propeller's thrust constraint and the time constraints for position, velocity and attitude in the underactuated UUV three-dimensional trajectory tracking.