On the Trajectory Tracking Problem of Underactuated Deep Diving AUV

摘要

The large dive depth of underactuated AUV leads to the complicated external interference in the dive process, which greatly affects the performance of AUV dive motion control. In order to solve the problem of external interference, this paper first divides the external interferences into the constant current interferences and the buoyancy interferences that vary with the depth changes. Then the mathematical model is built and the adaptive rate is designed for the external interference. Secondly, the AUV dynamic model under external interference is established and the three-dimensional trajectory tracking is implemented by the backstepping control method which defines the virtual velocity error variables. The control method can ensure that the AUV can dive to a designated area when there is external interference and can also solve the singular value problem in the traditional backstepping method. Finally, the system stability is proved by Lyapunov function. The simulation results show the effectiveness of the proposed method, which achieve the purpose of controlling the deep-depth spiral dive of the AUV.