A DYNAMIC VELOCITY REGULATION APPROACH TO PLANAR TRAJECTORY TRACKING CONTROL OF UNDERACTUATED AUVs

摘要

In this paper, a novel dynamic velocity regulation approach is proposed for the planar trajectory tracking of underactuated autonomous underwater vehicles subject to constant disturbances by integrating two neurodynamics models and the backstepping technique. The planar trajectory tracking virtual control laws are established by improving the virtual velocity variable method, and a dynamic velocity regulation controller is designed under constant disturbances. Compared with the traditional backstepping technique, which employs virtual velocity variables to represent state errors, the represented algorithm is capable of preventing the singularity when the absolute value of yaw angle error is 90 degrees. Based on the Lyapunov stability theory, it is well proved that the designed controlled system is uniformly ultimately bounded. Finally, simulations are given to illustrate the effectiveness and efficiency of the proposed method.