Three-Dimensional Path Following Control of Underactuated AUV Based on Nonlinear Disturbance Observer and Adaptive Line-of-Sight Guidance

Abstract

In this study, a backstepping sliding mode control method (NDO-ABSC) based on nonlinear disturbance observer (NDO) and adaptive line-of-sight guidance (ALOS) is proposed to address the three-dimensional path following control problem of underactuated autonomous underwater vehicles (AUVs) in the presence of ocean currents, unmodeled dynamics, and other unknown disturbances. First, the following error equations in the current environment are established in the Serret-Frenet coordinate system. Then, ALOS is designed to estimate the variations changes in angle-of-attack and crab angle caused by time-varying currents. In the kinematic controller, a parameter adaptive law, a control law for the virtual target point, and a virtual desired angular velocity are designed by backstepping. Subsequently, the composite uncertainty disturbance is observed and compensated by constructing a nonlinear disturbance observer, and a dynamic controller is designed by backstepping method, and a sliding mode control term is introduced in the control law to enhance the robustness of the system to the uncertainty disturbance. Finally, the good performance and strong robustness of the proposed method in 3D path following control are verified by numerical simulation.