3D path following for under-actuated AUV via nonlinear fuzzy controller

摘要

This paper adopts guidance and control framework to address the problem of path following for an under-actuated autonomous underwater vehicle (AUV) moving in three dimensional (3D) space. First, based on the error dynamics in the moving path frame, the desired pitch angle and yaw angle are designed in kinematics by 3D Line-of-Sight (LOS) guidance law. Subsequently, the desired pitch and yaw angular speeds are further derived by Lyapunov's direct method. And then, a model-based nonlinear fuzzy controller is designed in kinetics to force the steerable surge linear speed, pitch and yaw angular speeds of the under-actuated AUV to attain their desired values, such that the AUV converges to and follows the desired 3D path with its resultant speed aligned with the tangent vector of the path. Finally, numerical simulations illustrate the satisfactory 3D following performance of the proposed nonlinear fuzzy controller.