Output Feedback Spatial Trajectory Tracking Control of Underactuated Unmanned Undersea Vehicles

Abstract

In this paper, suffering from both parameter perturbation and unknown ocean currents, the spatial trajectory tracking problem of an underactuated unmanned undersea vehicle (UUV) is investigated in the absence of full state information. The equivalent output injection sliding mode observer is applied to estimate the linear and angular velocities of underactuated UUVs in finite time. Meanwhile, the spatial trajectory tracking controller is developed based on the bioinspired filtering backstepping technique and integral sliding mode control principle, which guarantees to steer the underactuated UUV to track the desired trajectory and stabilizes all tracking errors to the bounded neighborhood of the origin. Numerical simulation results are presented and analyzed to demonstrate the preferably control performance of the proposed tracking control scheme.